| Issue |
ESAIM: COCV
Volume 23, Number 4, October-December 2017
|
|
|---|---|---|
| Page(s) | 1715 - 1749 | |
| DOI | https://doi.org/10.1051/cocv/2016070 | |
| Published online | 28 September 2017 | |
Geometric and numerical methods for a state constrained minimum time control problem of an electric vehicle
Toulouse Univ., INP-ENSEEIHT-IRIT, UMR CNRS 5505, 2 rue Camichel 31071 Toulouse, France.
olivier.cots@enseeiht.fr
Received: 14 January 2016
Revised: 20 September 2016
Accepted: 4 November 2016
In this article, the minimum time control problem of an electric vehicle is modeled as a Mayer problem in optimal control, with affine dynamics with respect to the control and with state constraints. The candidates as minimizers are selected among a set of extremals, solutions of a Hamiltonian system given by the maximum principle. An analysis, with the techniques of geometric control, is used first to reduce the set of candidates and then to construct the numerical methods. This leads to a numerical investigation based on indirect methods using the HamPath software. Multiple shooting and homotopy techniques are used to build a synthesis with respect to the bounds of the boundary sets.
Mathematics Subject Classification: 49K15 / 49M05 / 90C90 / 80M50
Key words: Geometric optimal control / state constraints / shooting and homotopy methods / electric car
© EDP Sciences, SMAI 2017
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