Optimal Speed and Charging Control for Electric Buses: A Multiscale MPC-Based Framework

This article presents a control framework designed to manage the speed, dwell time, and charging schedules of electric, automated, and connected buses operating on mixed-traffic lines without reserved lanes. The control architecture is composed of two layers, each defined by distinct objectives, levels of detail, and time scales, resulting in a multiscale control framework. The high-level control layer periodically solves a multiobjective optimal control problem to ensure the adequate transport service while considering a prediction of traffic conditions along the bus line. In contrast, the low-level control layer employs a model predictive control to accurately track the high-level control actions. The MPC-based low-level controller accounts for the detailed dynamic behavior of the bus, ensuring robust execution of the high-level directives. The effectiveness of the proposed control scheme is assessed through its application to a realistic case study in Italy, demonstrating improved service reliability and energy efficiency.