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Energy optimal control of an over actuated Robotic Electric Vehicle using enhanced control allocation approaches

Brembeck, Jonathan and Ritzer, Peter (2012) Energy optimal control of an over actuated Robotic Electric Vehicle using enhanced control allocation approaches. In: Intelligent Vehicles Symposium (IV), 2012 IEEE, pp. 322-327. IEEE. Intelligent Vehicles Symposium (IV), 2012-06-03 - 2012-06-07, Alcala de Henares. doi: 10.1109/IVS.2012.6232147. ISBN 978-1-4673-2119-8. ISSN 1931-0587.

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In this paper an energy optimal control strategy for a highly maneuverable Robotic Electric Vehicle (ROboMObil) is presented. The ROMO is a development of the Robotics and Mechatronics Center (which is part of the German Aerospace Center) to cope with several research topics, like energy efficient, autonomous or remote controlled driving for future (electro-) mobility applications. Since saving electric energy is a primal goal when operating a battery electric vehicle (like the ROMO), we have developed a new approach for energy optimal control of an over-actuated electric car. The focus of the control strategy lies in the model based minimization of the actuator losses and power consumption for driving along a precalculated trajectory to optimize the overall efficiency. The approach is based on a real-time capable nonlinear control allocation (CA) algorithm, using quadratic programming, implemented in the object oriented modeling language Modelica. Two optimization objectives are analyzed and the performance is presented by simulation results. Finally an CA extension to nonlinear dynamic inversion is discussed, which is able to compensate the different time constants of the actuators.

Item URL in elib:https://elib.dlr.de/79721/
Document Type:Conference or Workshop Item (Poster)
Title:Energy optimal control of an over actuated Robotic Electric Vehicle using enhanced control allocation approaches
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Brembeck, JonathanUNSPECIFIEDhttps://orcid.org/0000-0002-7671-5251UNSPECIFIED
Date:June 2012
Journal or Publication Title:Intelligent Vehicles Symposium (IV), 2012 IEEE
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 322-327
EditorsEmailEditor's ORCID iDORCID Put Code
Series Name:Intelligent Vehicles Symposium (IV)
Keywords:ROboMObil;actuator loss;battery electric vehicle;control allocation approach;electric energy saving;energy optimal control strategy;model based minimization;nonlinear control allocation algorithm;nonlinear dynamic inversion;object oriented modeling language Modelica;over actuated robotic electric vehicle;over-actuated electric car;power consumption;quadratic programming;robotics-mechatronics center;actuators;automobiles;battery powered vehicles;control engineering computing;energy conservation;mobile robots;nonlinear control systems;nonlinear dynamical systems;object-oriented languages;optimal control;power consumption;power control;quadratic programming;simulation languages;
Event Title:Intelligent Vehicles Symposium (IV)
Event Location:Alcala de Henares
Event Type:international Conference
Event Start Date:3 June 2012
Event End Date:7 June 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Brembeck, Dr. Jonathan
Deposited On:13 Dec 2012 16:43
Last Modified:24 Apr 2024 19:46

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