Yu, Sheng;
Pan, Xiao;
Georgiou, Anastasis;
Chen, Boli;
Jaimoukha, Imad;
Evangelou, Simos;
(2022)
Robust Model Predictive Control Framework for Energy-Optimal Adaptive Cruise Control of Battery Electric Vehicles.
In:
Proceedings of the European Control Conference (ECC 22).
Institute of Electrical and Electronics Engineers (IEEE)
(In press).
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Abstract
The autonomous vehicle following problem has been extensively studied for at least two decades with the rapid development of intelligent transport systems. In this context, this paper proposes a robust model predictive control (RMPC) method that aims to find the energy-efficient following velocity of an ego battery electric vehicle and to guarantee a safe rearend distance in the presence of disturbances and modelling errors. The optimisation problem is formulated in the space domain so that the overall problem can be convexified in the form of a semi-definite program, which ensures a rapid solving speed and a unique solution. Simulations are carried out to provide numerical comparisons with a nominal model predictive control (MPC) scheme. It is shown that the RMPC guarantees robust constraint satisfaction for the closed-loop system whereas constraints may be violated when the nominal MPC is in use. Moreover, the impact of the prediction horizon length on optimality is investigated, showing that a finely tuned horizon could produce significant energy savings.
| Type: | Proceedings paper |
|---|---|
| Title: | Robust Model Predictive Control Framework for Energy-Optimal Adaptive Cruise Control of Battery Electric Vehicles |
| Event: | European Control Conference (ECC 22) |
| Location: | London, UK |
| Dates: | 12th-15th July 2022 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://ecc22.euca-ecc.org/ |
| 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. |
| UCL classification: | 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 UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10145743 |
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