Eco-Driving Optimal Controller for Autonomy Tracking of Two-Wheel Electric Vehicles

Algorithm 1

NMPC controller.

	BEGIN
	Choose the initial states of the vehicle system.
	Introduce autonomy required ().
	Gather information required for optimization from three sources: vehicle, rider and digital devices.
	Calculate energy estimation coefficient required to complete the travel .
	Find the value required to complete the trip.
	Choose the initial states of the system.
	Solve optimal problem 25.
	Apply first component of optimal reference for a period of time of Ts.
	Have the travel ends?
	(i) NO: The time happed is multiple of 1000 seconds?
	(a) SI: Use final states as new initial states and go to 5.
	(b) NO: Use final states as new initial states and go to 7.
	(ii) YES: END.