Abstract
This paper investigates a novel approach to design a nonlinear optimal model predictive controller for the speed control of constrained nonlinear electric vehicles (EVs). The proposed approach employs a linear parameter varying model including bias terms and a model predictive scheme. The controller design conditions are derived in terms of linear matrix inequalities (LMIs), which can be solved through convex optimization techniques. Due to considering bias terms in the system dynamic, the proposed approach can be regarded as the general case of the existing results. Furthermore, practical limitations on the amplitude of the input signal are considered and formulated in terms of LMIs. An EV dynamic with bias term is presented and hardware-in-the-loop real time and experiments are carried out to illustrate the effectiveness and merits of the proposed approach over the existing results.
Original language | English |
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Article number | 8554296 |
Journal | IEEE Journal of Emerging and Selected Topics in Power Electronics |
Volume | 7 |
Issue number | 3 |
Pages (from-to) | 2081 - 2089 |
Number of pages | 9 |
ISSN | 2168-6777 |
DOIs | |
Publication status | Published - Sept 2019 |
Keywords
- DC motors
- Electric vehicles
- Linear matrix inequality (LMI)
- Linear parameter varying (LPV)
- Nonlinear light-weighted electric vehicle
- Nonlinear model predictive control
- Power electronics
- Practical constraint
- Predictive control
- Predictive models
- Vehicle dynamics
- Velocity control
- linear parameter varying (LPV)
- nonlinear model predictive control (NMPC)
- nonlinear light-weighted electric vehicle (LWEV)
- practical constraint