A robust co-state predictive model for energy management of plug-in hybrid electric bus

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This paper proposes a robust co-state predictive model for Pontryagin’s Minimum Principle (PMP)-based energy management of plug-in hybrid electric bus (PHEB). The main innovation is that the robust co-state predictive model is only expressed by a simplified formula. Moreover, it is exclusively designed by the Design For Six Sigma (DFSS) method in consideration of noises of driving cycles and stochastic vehicle mass. Because the DFSS strives to minimize the weighted sum of mean and standard deviation of fuel consumption, the proposed strategy can simultaneously improve the fuel economy of the PHEB and its robustness. The DFSS results show that the coefficients of the robust co-state predictive model can be found; the simulation results demonstrate that the proposed strategy has similar fuel economy to dynamic programming (DP); the hardware-in-loop (HIL) results demonstrate that the proposed strategy has good real-time control performance, and can averagely improve the fuel economy by 35.19% compared to a rule-based control strategy.