Robust adaptive speed control of uncertain hybrid electric vehicle using electronic throttle control with varying road grade

The design objective of this paper is to apply various control techniques to control the speed of a hybrid electric vehicle (HEV) using an electronic throttle control system (ETCS). The DC servo motor is used for controlling the angular position of the throttle valve. A proportional-integral-derivative (PID), a self-tuning fuzzy PID (STF-PID) controller and a model reference adaptive system (MRAS) with a sliding mode (SM) adaptation mechanism are used for controlling the speed of the nonlinear vehicle. The integral error performance indices (IEPI) such as the integral of the absolute error (IAE), the integral of the square of error (ISE) and the time domain performance specifications such as overshoot (OS), settling time (ST) and rise time (RT) are taken into consideration for the performance analysis of HEV. The robust H-a controller using mixed sensitivity approach is designed and implemented for the linearized HEV. The robust stability of uncertain HEV with H-a controller using Kharitonov's theorem is analyzed, and the stability margin of the linearized vehicle system is determined. These control techniques are developed to achieve the robust performance of the throttle controlled HEV with the target to achieve a wide range of speed, fuel economy, reduced pollution and improved efficiency.