Nonlinear Model Predictive Speed Control of Electric Vehicles Represented by Linear Parameter Varying Models With Bias Terms

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.