Networked Motion Control for Smart EV with multiple-package transmissions and time-varying network-induced delays

This paper aims to address the coupled problem of the multiple-package transmissions (MPT) and time-varying network-induced delays (TND) within the networked motion control systems of smart electric vehicles (EVs). The recent development of the advance digital sensors, actuators and controllers leverage the worldwide upgrade of transportation in terms of electrification and intellectualization. However, for smart EVs, this updating may challenge the in-vehicle network and then the vehicle control performance. In particular, the non-synchronous MPT and the TND are the key issues in the vehicle's integrated motion control, due to the absence of synchronization mechanism and limitation of communication bandwidth. To deal with the effects of coupled MPT and TND, a hybrid schedule-control framework (HSCF) is developed, where a new multiple-package transmissions scheduler is developed with a flexible time triggered schedule strategy with fractional-type basic period to eliminate the effect of the MPT and reorganize the TND to a bounded range of delay. Furthermore, an H-based linear quadratic regulator (LQR) control approach is designed to deal with the uncertainties caused by the time-varying network-induced delays as well as guarantee the system's stability. The effectiveness of the proposed scheme is verified in three cases by the real-time hardware-in-the-loop (HIL) bed tests.