Exponential decrease in oil and natural gas resources, increasing global warming issues and insufficiency of fossil fuels has shifted the focus to fuel cell hybrid electric vehicles (FHEVs). FHEV model used in this work consists of fuel cell, ultracapacitor and battery. Non-linearities present in the vehicle model dominate because of extreme driving conditions like rough terrains, slippery roads or hilly areas. Behavior of components like energy sources, induction motors and power processing blocks deviate significantly from their normal behavior when driving in highly demanding situations. To tackle these shortcomings, non-linear controllers are preferred because of their efficiency. In literature, different controllers have been proposed for either the energy sources or the induction motor separately, whereas this research work focuses on a unified hybrid electric vehicle (HEV) model to simultaneously control the energy sources and the induction motor. The model used is a complete representation of electric system of FHEV and increases the performance of the vehicle. This unified model provides improved DC bus voltage regulation along with speed tracking when subjected to European extra urban drive cycle (EUDC). In this work, Robust Integral Backstepping and Robust Backstepping controllers have been designed. Lyapunov based analysis ensures the global stability of the system. Performance of proposed controllers is validated in MATLAB/Simulink environment. A comparative analysis is also given to illustrate the importance of the unified model proposed in this work. INDEX TERMS Hybrid electric vehicles, unified model, non-linear control, integral backstepping control, backstepping control, stabilizing functions.
The public awareness about global warming, emission of green-house gases and depletion of natural resources like oil and natural gas, are the main factors due to which fuel cell hybrid electric vehicles (FHEVs) have attained importance in automotive industry. Hard driving conditions like steep areas, slippery roads and rough terrains boost up the nonlinearities present in vehicle's model. The considered unified mathematical model of FHEV is based on fuel cell as a primary source, ultracapacitor and battery as storage units as well as the induction motor dynamics. The variations in parameters like resistance, capacitance, inductance and the nonlinearities of the dynamical system have also been considered. Three adaptation based nonlinear controllers namely adaptive terminal sliding mode, adaptive terminal synergetic and adaptive synergetic controllers have been proposed for the regulation of DC bus voltage along with speed tracking when subjected to European extra urban driving cycle. Lyapunov stability theory has been used to ensure global asymptotic stability of the system. Proposed controllers have been simulated on MATLAB/Simulink, where their comparison has been presented with each other and with recently proposed nonlinear controllers in the literature. Furthermore, ATSMC has further been implemented on real-time microcontroller hardware in the loop setup. The experimental results show that it provides better performance.INDEX TERMS Hybrid electric vehicles, adaptive terminal sliding mode control (ATSMC), adaptive terminal synergetic control (ATSC), adaptive synergetic control (ASC), hardware in the loop.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.