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The proposed hierarchical structure consists of three control layers: maneuver controllers, vehicle supervisors and team controllers.
Additional control layers are used to improve engine performance.
The functional decomposition leads to three control layers: supervisory, optimising and follow-up.
The system architecture of the production control system is based on three different control layers.
The key idea is to split the design into two control layers.
This level is further decomposed into control layers operating at different time scales: slow, medium and fast.
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The higher-layer controller uses MPC to determine set-points for controllers in a lower control layer.
To address this issue, many researchers have proposed multiple controllers to realize logically centralized control layer.
Four controllers are used in the second control layer to operate the balancing mechanisms.
The control strategy within each control layer is integrated in the off-board controller and on-board controller respectively.
Typically, a DC microgrid has a two-layered hierarchical control structure, comprising the primary control layer and the secondary control layer.
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