A Robust MPC-based Hierarchical Control Strategy for Energy Management of Hybrid Electric Vehicles in Presence of Uncertainty

Abstract

This paper focuses on developing a control theoretic solution for energy management of power-split Hybrid Electric Vehicles (HEVs) in presence of uncertainty in future torque demand and vehicle velocity. We propose a hierarchical control structure that solves the energy management problem over the whole driving cycle in the high-level by means of pseudospectral optimal control method. This solution is then utilized in the low-level controller, which uses a tube-based Model Predictive Control (MPC) controller, as a reference trajectory and also for modeling its terminal cost for each finite time horizon. Simulation results show the efficacy of our control strategy in terms of constraint satisfaction, real-time applicability, and fuel economy in presence of uncertainty in the driving cycle.