Robust adaptive integral backstepping control of FC-SC-battery and traction motor based hybrid electric vehicles

The shortage of fossil fuels, greenhouse gases impact on environment and the raising awareness in public about global warming issues shifted the focus of transport industry towards fuel cell hybrid electric vehicles. Furthermore, rough driving conditions like slippery highways, hilly areas and irregular terrains enhance the nonlinearities existing in vehicle models. Time varying parameters like resistance, capacitance, inductance and the nonlinearities can alter the performance efficiency of hybrid electric vehicles. In this paper, a robust adaptive integral backstepping controller has been proposed to attenuate the effects of parametric uncertainties while considering the nonlinearities of system model. Lyapunov stability theory has been used to ensure the global asymptotic stability of the system. A worldwide harmonized light vehicle testing procedure has been used to test the speed of vehicle. The proposed adaptive nonlinear controller has been simulated on MATLAB/Simulink. The comparison study of proposed adaptive nonlinear controller has been considered with the recently suggested nonlinear controllers in the literature. To ensure the effectiveness of proposed controller in real-time, a controller hardware in loop experimental test has been considered.