Table 2 Simulation result of LTV-MPC and PID controller
Regeneration energy efficiency αr (%) | Braking duration (s) | Distance d (m) | Terminal velocity ve (m/s) | |
|---|---|---|---|---|
Original trajectory | 68.21 | 7.30 | 198.85 | 20.09 |
LTV-MPC controller | 68.18 | 7.32 | 198.88 | 20.10 |
PID controller | 64.35 | 7.68 | 208.81 | 20.13 |