Horizon length and fuel equivalents for fuel-optimal look-ahead control
نویسندگان
چکیده
The Lagrange multiplier for the kinetic energy e is shown to be −γcm on a singular arc, where γ (g/J) is derived from engine and driveline characteristics and cm ≈ 1. Using this value as an approximation for constrained arcs as well, the cost function is J(s, x) ≈ −γcme + C(s) that yields the residual cost φ(x) = −γcme. The factor β corresponds to the constant Lagrange multiplier for time and it is shown that it determines the velocity v̂ on singular arcs and that β = 2γPair(v̂) ≈ 2γPair(/T0) Suboptimality measures
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