### Abstract

A globally optimal energy-efficient control allocation (EECA) is developed for planar motion control of electric ground vehicles (EGVs) with four in-wheel motors. Different from the distribution processes in previous EECA designs [19][21], which obtained optimal torque distributions locally due to the nonlinear/nonconvex characteristics of EECA formulation, this EECA approach based a branch-and-bound (B&B) method that can make the distributed control actuation achieve the global energy-optimal operating points. Based on a sequence of equivalent problem transformations and a linear relaxation programming, the global optimal programming can be solved by the B&B method through rewriting the EECA formulation into a polynomial fractional optimization problem. Simulation results of different EGV maneuvers indicate that less energy are consumed when the EECA scheme based on the B&B method is applied, in comparison with the energy consumptions of the identical maneuvers with the active-set algorithm.

Original language | English (US) |
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Title of host publication | 2012 American Control Conference, ACC 2012 |

Pages | 4999-5004 |

Number of pages | 6 |

State | Published - Nov 26 2012 |

Externally published | Yes |

Event | 2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: Jun 27 2012 → Jun 29 2012 |

### Publication series

Name | Proceedings of the American Control Conference |
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ISSN (Print) | 0743-1619 |

### Other

Other | 2012 American Control Conference, ACC 2012 |
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Country | Canada |

City | Montreal, QC |

Period | 6/27/12 → 6/29/12 |

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

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## Cite this

*2012 American Control Conference, ACC 2012*(pp. 4999-5004). [6314861] (Proceedings of the American Control Conference).