Yu, Sheng;
Pan, Xiao;
Georgiou, Anastasis;
Chen, Boli;
Jaimoukha, Imad M;
Evangelou, Simos A;
(2023)
A Real-Time Robust Ecological-Adaptive Cruise Control Strategy for Battery Electric Vehicles.
IEEE Transactions on Transportation Electrification
10.1109/TTE.2023.3340670.
(In press).
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Abstract
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 real-time 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 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.
| Type: | Article |
|---|---|
| Title: | A Real-Time Robust Ecological-Adaptive Cruise Control Strategy for Battery Electric Vehicles |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TTE.2023.3340670 |
| Publisher version: | https://doi.org/10.1109/TTE.2023.3340670 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Connected and automated vehicle, Eco-driving, Adaptive cruise control, Robust model predictive control, Convex optimisation, Linear matrix inequality. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10182843 |
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