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
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U2 - 10.1109/CDC.2011.6160407
DO - 10.1109/CDC.2011.6160407
M3 - Conference contribution
AN - SCOPUS:84860669182
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8062
EP - 8067
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -