Nonlinear LQG Slip Controller Based on an Empirical Model for a Three Wheel Hybrid Vehicle

Abstract

A three wheels recreational vehicle propelled by its unique rear wheel is studied for the purpose of regenerative braking control. To ensure the stability of the vehicle and the safety of the pilot, the slip ratio of the powered wheel must be limited during regenerative braking. In this study, a design of a LQG slip tracking algorithm is proposed. The non-linear model is based on experimental tests and the controller has been validated by simulations and road tests.

Explicit Nonlinear Model Predictive Control for Electric Vehicle Traction Control

“…( + +1 ) = ( ( + ), ( + , ), ( ), + ) (7) with given initial condition ( ). If the whole horizon is considered, the state trajectories are all mapped into a single function, and the system dynamics do not appear any more as equality constraints: , … )…”

“…For example, [6] discusses a gain scheduled linear quadratic regulator (LQR) approach for ABS control, with experimental results on an internal-combustionengine-driven vehicle with electro-mechanical brakes. [7] and [8] include different approaches to ABS control, i.e., linear quadratic Gaussian (LQG) regulation and generalized predictive control, which is re-proposed in [9] for a TC implementation. A linear MPC strategy is developed in [10], where the ABS slip regulation is achieved through torque blending between the friction brakes and in-wheel motors.…”

Wheel slip controller for the regenerative braking of electric vehicle: Experimental results with a three wheels recreational hybrid vehicle

“…However, any errors will lead 978-1-4673-6785-1/15/$31.00 ©2015 Crown to a degraded efficiency. Results of numerical simulations with the torque and slip control laws show that the slip control is more robust in case of parametric uncertainties on the vehicle mass, the inclination or type of the road [2].…”