A Hybrid Control for Automatic Docking of Electric Vehicles for recharging

Plamen Petrov (1) , Clément Boussard (2) , Samer Ammoun (3) , Fawzi Nashashibi (2)

1 Faculty of Mechanical Engineering
2 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
3 Modulowatt ingénierie

In this paper, we present the architecture of an innovative docking station for electric vehicles recharging and a hybrid control scheme for automatic docking of the vehicles. This work is a part of on-going project concerning the development of a smart charging station for electric vehicles equipped with an automated arm, which connect the vehicle to the charging station, and an infrared beacon system for localizing the automatically maneuvering vehicle in the docking area. The proposed control scheme combines time-optimal (bang-bang) control with continuous time-invariant nonlinear control, which stabilizes the vehicle to a small neighborhood of the docking point. Simulation and experimental results illustrate the effectiveness of the proposed controller.

Mots clés: bang-bang control; continuous time systems; electric vehicles; nonlinear control systems; optimal control; position control; road traffic control

Domaines: Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Plamen Petrov, Clément Boussard, Samer Ammoun, Fawzi Nashashibi. A Hybrid Control for Automatic Docking of Electric Vehicles for recharging. ICRA2012 - IEEE International Conference on Robotics and Automation, May 2012, Saint-Paul, United States. pp.2966 - 2971, ⟨10.1109/ICRA.2012.6225087⟩. ⟨hal-00766776⟩