A Lyapunov based robust control of the EV gearshift process

Abstract

This paper presents a novel Lyapunov based robust control algorithm for gearshift system of automated manual transmission (AMT) in electric vehicle (EV). Gearshift process is analyzed and modeled considering a two-gear powertrain. Trajectory-tracking control is designed regarding the engagement rule of the shifting fork as the desired trajectory. Model uncertainties and external disturbance are lumped into a function with the assumed upper bound. The control algorithm consists of a PD feedback component and a piecewise function component, which is error-based and model-based inheriting from conventional PID control and robust control. Furthermore, this proposed control is based on Lyapunov approach, and is theoretical proved to render uniform boundedness and uniform ultimate boundedness. The proposed control can guarantee the deterministic performance of the gearshift system, and its effectiveness is illustrated by numerical simulations and sample vehicle test.