An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles

Yan Chen, Junmin Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

An adaptive energy-efficient control allocation (A-EECA) is developed for planar motion control of electric ground vehicles (EGVs) with four in-wheel motors. Different from distribution processes in previous EECA designs [19][28], which needed to instantaneously solve nonlinear (even non-convex) optimization problems at each sampling time, this adaptive EECA approach can make distributed control actuation gradually converge to energy-optimal operating points. The consequent advantages are reflected in both low computational cost and free selections of initial conditions. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the adaptive EECA dictates different torque distributions to all the EGV wheels based on their different efficiencies. Simulation results of different maneuvers indicate that much less energy and computational cost are consumed when the adaptive EECA scheme is applied for controlling the planar motion of an EGV.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages8062-8067
Number of pages6
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

Fingerprint

Ground vehicles
Motion Control
Motion control
Electric vehicles
Energy Efficient
Wheel
Wheels
Vehicle wheels
Computational Cost
Nonconvex Optimization
Nonconvex Problems
Costs
Distributed Control
Torque
Energy
Sampling
Initial conditions
Experimental Data
Optimization Problem
Converge

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Chen, Y., & Wang, J. (2011). An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 8062-8067). [6160407] https://doi.org/10.1109/CDC.2011.6160407

An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles. / Chen, Yan; Wang, Junmin.

2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. p. 8062-8067 6160407.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chen, Y & Wang, J 2011, An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160407, pp. 8062-8067, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160407
Chen Y, Wang J. An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. p. 8062-8067. 6160407 https://doi.org/10.1109/CDC.2011.6160407
Chen, Yan ; Wang, Junmin. / An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles. 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. pp. 8062-8067
@inproceedings{e8343de855e240f09e3ae39423a33715,
title = "An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles",
abstract = "An adaptive energy-efficient control allocation (A-EECA) is developed for planar motion control of electric ground vehicles (EGVs) with four in-wheel motors. Different from distribution processes in previous EECA designs [19][28], which needed to instantaneously solve nonlinear (even non-convex) optimization problems at each sampling time, this adaptive EECA approach can make distributed control actuation gradually converge to energy-optimal operating points. The consequent advantages are reflected in both low computational cost and free selections of initial conditions. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the adaptive EECA dictates different torque distributions to all the EGV wheels based on their different efficiencies. Simulation results of different maneuvers indicate that much less energy and computational cost are consumed when the adaptive EECA scheme is applied for controlling the planar motion of an EGV.",
author = "Yan Chen and Junmin Wang",
year = "2011",
doi = "10.1109/CDC.2011.6160407",
language = "English (US)",
isbn = "9781612848006",
pages = "8062--8067",
booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

}

TY - GEN

T1 - An adaptive energy-efficient control allocation on planar motion control of electric ground vehicles

AU - Chen, Yan

AU - Wang, Junmin

PY - 2011

Y1 - 2011

N2 - An adaptive energy-efficient control allocation (A-EECA) is developed for planar motion control of electric ground vehicles (EGVs) with four in-wheel motors. Different from distribution processes in previous EECA designs [19][28], which needed to instantaneously solve nonlinear (even non-convex) optimization problems at each sampling time, this adaptive EECA approach can make distributed control actuation gradually converge to energy-optimal operating points. The consequent advantages are reflected in both low computational cost and free selections of initial conditions. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the adaptive EECA dictates different torque distributions to all the EGV wheels based on their different efficiencies. Simulation results of different maneuvers indicate that much less energy and computational cost are consumed when the adaptive EECA scheme is applied for controlling the planar motion of an EGV.

AB - An adaptive energy-efficient control allocation (A-EECA) is developed for planar motion control of electric ground vehicles (EGVs) with four in-wheel motors. Different from distribution processes in previous EECA designs [19][28], which needed to instantaneously solve nonlinear (even non-convex) optimization problems at each sampling time, this adaptive EECA approach can make distributed control actuation gradually converge to energy-optimal operating points. The consequent advantages are reflected in both low computational cost and free selections of initial conditions. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the adaptive EECA dictates different torque distributions to all the EGV wheels based on their different efficiencies. Simulation results of different maneuvers indicate that much less energy and computational cost are consumed when the adaptive EECA scheme is applied for controlling the planar motion of an EGV.

UR - http://www.scopus.com/inward/record.url?scp=84860669182&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84860669182&partnerID=8YFLogxK

U2 - 10.1109/CDC.2011.6160407

DO - 10.1109/CDC.2011.6160407

M3 - Conference contribution

AN - SCOPUS:84860669182

SN - 9781612848006

SP - 8062

EP - 8067

BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

ER -