Nonlinear Recurrent Neural Network Predictive Control for Energy Distribution of a Fuel Cell Powered Robot

Table 2

Constraints for the constrained MPC.

Sym.	Meaning	Lower limit	Upper limit
Δ𝐼max	Rate of change of fuel cell current	−0.4 A/s	0.4 A/s
SOC	State of charge of the ultracapacitor	0.45	1
𝐼𝑐	Current of the ultracapacitor	−30 A	30 A
𝑉st	Voltage of the fuel cell	27.5 V	40 V