LPV modeling and game-theoretic control synthesis to design energy–motion regulators for electric scooters

This paper develops game-theoretic LPV control with multiple L2L2-gain objectives to manage the trade-off between energy economy and motion dexterousness of electric scooters. Here a second-order LPV modeling from system identification is incorporated with energy and motion objectives contradictory to each other to form a generalized plant, served for game-theoretic feedback synthesis. In the game-theoretic synthesis, both objectives share the same control and estimation storages, thus reducing the conservatism conventionally happened in robust/optimal control with multiple objectives. Moreover, the feedback controller has a definite structure, thus facilitating the iteration of control modeling and control synthesis to reach a sound design. At the stage of pilot run, it is found that the control design can significantly suppress current overshoots with just a little bit of retard in speed, thus fulfilling the energy–motion regulation.