15 research outputs found
A Computationally Efficient Robust Model Predictive Control Framework for Ecological Adaptive Cruise Control Strategy of Electric Vehicles
The recent advancement in vehicular networking technology provides novel
solutions for designing intelligent and sustainable vehicle motion controllers.
This work addresses a car-following task, where the feedback linearisation
method is combined with a robust model predictive control (RMPC) scheme to
safely, optimally and efficiently control a connected electric vehicle. In
particular, the nonlinear dynamics are linearised through a feedback
linearisation method to maintain an efficient computational speed and to
guarantee global optimality. At the same time, the inevitable model mismatch is
dealt with by the RMPC design. The control objective of the RMPC is to optimise
the electric energy efficiency of the ego vehicle with consideration of a
bounded model mismatch disturbance subject to satisfaction of physical and
safety constraints. Numerical results first verify the validity and robustness
through a comparison between the proposed RMPC and a nominal MPC. Further
investigation into the performance of the proposed method reveals a higher
energy efficiency and passenger comfort level as compared to a recently
proposed benchmark method using the space-domain modelling approach.Comment: This work has been submitted to the IEEE for possible publication.
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A Robust Model Predictive Control Framework for Ecological Adaptive Cruise Control Strategy of Electric Vehicles
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is combined with a robust model predictive control (RMPC) scheme to safely, optimally and efficiently control a connected electric vehicle. In particular, the nonlinear dynamics are linearised through a feedback linearisation method to maintain an efficient computational speed and to guarantee global optimality. At the same time, the inevitable model mismatch is dealt with by the RMPC design. The control objective of the RMPC is to optimise the electric energy efficiency of the ego vehicle with consideration of a bounded model mismatch disturbance subject to satisfaction of physical and safety constraints. Numerical results first verify the validity and robustness through a comparison between the proposed RMPC and a nominal MPC. Further investigation into the performance of the proposed method reveals a higher energy efficiency and passenger comfort level as compared to a recently proposed benchmark method using the space-domain modelling approach
Computation of a Reference Model for Robust Fault Detection and Isolation Residual Generation
This paper considers matrix inequality procedures to address the robust fault detection and isolation (FDI) problem for linear time-invariant systems subject to disturbances, faults, and polytopic or norm-bounded uncertainties. We propose a design procedure for an FDI filter that aims to minimize a weighted combination of the sensitivity of the residual signal to disturbances and modeling errors, and the deviation of the faults to residual dynamics from a fault to residual reference model, using the ℋ∞-norm as a measure. A key step in our procedure is the design of an optimal fault reference model. We show that the optimal design requires the solution of a quadratic matrix inequality (QMI) optimization problem. Since the solution of the optimal problem is intractable, we propose a linearization technique to derive a numerically tractable suboptimal design procedure that requires the solution of a linear matrix inequality (LMI) optimization. A jet engine example is employed to demonstrate the effectiveness of the proposed approach
Fault-tolerant observer design with a tolerance measure for systems with sensor failures
A fault-tolerant switching observer design methodology is proposed. The aim is to maintain a desired level of closed-loop performance under a range of sensor fault scenarios while the fault-free nominal performance is optimized. The range of considered fault scenarios is determined by a minimum number p of assumed working sensors. Thus the smaller p is, the more fault tolerant is the observer. This is then used to define a fault tolerance measure for observer design. Due to the combinatorial nature of the problem, a semidefinite relaxation procedure is proposed to deal with the large number of fault scenarios for systems that have many vulnerable sensors. The procedure results in a significant reduction in the number of constraints needed to solve the problem. Two numerical examples are presented to illustrate the effectiveness of the fault-tolerant observer design
A Real-Time Robust Ecological-Adaptive Cruise Control Strategy for Battery Electric Vehicles
This work addresses the ecological-adaptive cruise
control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated
in the space-domain with a realistic description of the nonlinear
electric powertrain model and motion dynamics to yield a
convex optimal control problem (OCP). The OCP is solved
by a novel robust model predictive control (RMPC) method
handling various disturbances due to modelling mismatch and
inaccurate leading vehicle information. The RMPC problem
is solved by semi-definite programming relaxation and single
linear matrix inequality (sLMI) techniques for further enhanced
computational efficiency. The performance of the proposed realtime robust ecological-adaptive cruise control (REACC) method
is evaluated using an experimentally collected driving cycle.
Its robustness is verified by comparison with a nominal MPC
which is shown to result in speed-limit constraint violations.
The energy economy of the proposed method outperforms a
state-of-the-art time-domain RMPC scheme, as a more precisely
fitted convex powertrain model can be integrated into the spacedomain scheme. The additional comparison with a traditional
constant distance following strategy (CDFS) further verifies the
effectiveness of the proposed REACC. Finally, it is verified that
the REACC can be potentially implemented in real-time owing
to the sLMI and resulting convex algorithm
A Real-Time Robust Ecological-Adaptive Cruise Control Strategy for Battery Electric Vehicles
This work addresses the ecological-adaptive cruise control problem for
connected electric vehicles by a computationally efficient and robust control
strategy. The problem is formulated in the space-domain with a realistic
description of the nonlinear electric powertrain model and motion dynamics to
yield a convex optimal control problem (OCP). The OCP is approached by a robust
model predictive control (RMPC) method, which handles various uncertainties due
to the modelling mismatch and inaccurate information of the leading vehicle.
The RMPC problem is solved by semi-definite programming relaxation and single
linear matrix inequality (sLMI) techniques for further enhanced computational
efficiency. The performance of the proposed real-time robust
ecological-adaptive cruise control (REACC) method is evaluated by utilising an
urban driving cycle experimentally collected on a real-world route in London UK
with practical disturbances including modelling mismatches on air-drag
coefficients, tyre-rolling resistance coefficients, and road slope angles. Its
robustness is verified through the comparison with a nominal MPC which is shown
to result in speed limit constraint violations. The energy economy of the
proposed method outperforms a state-of-the-art time-domain RMPC scheme, as a
more precisely fitted convex powertrain model can be integrated into the
space-domain scheme. The additional comparison with a traditional constant
distance following strategy (CDFS) further verifies the effectiveness of the
proposed REACC. Finally, it is verified that the REACC can be potentially
implemented in real-time owing to the sLMI and resulting convex algorithm.Comment: 15 pages and 12 figure