Optimal and Robust Speed Control of Electric Vehicles using a Hybrid Ant Colony Optimization Tuned Sliding Mode Control

Parthiban S; Krishna S

doi:10.31436/iiumej.v27i2.4136

Authors

Parthiban S Vellore Institute of Technology University https://orcid.org/0009-0009-7618-9229
Krishna S Vellore Institute of Technology University https://orcid.org/0000-0001-8868-490X

DOI:

https://doi.org/10.31436/iiumej.v27i2.4136

Keywords:

Control System, Electric Vehicles, Metaheuristic-Ant Colony Optimization, Nonlinear Control

Abstract

Electric vehicle (EV) speed control is significantly affected by nonlinear motor dynamics, external disturbances, and parameter uncertainties, which degrade tracking performance and energy efficiency. Conventional controllers often fail to maintain robustness under varying operating conditions. Although Sliding Mode Control (SMC) provides strong robustness, it suffers from chattering and requires proper tuning of control parameters. To address this, a hybrid Ant Colony Optimization-based Sliding Mode Controller (ACO-SMC) is proposed to optimally tune the SMC control parameters. The performance of the ACO-SMC controller is evaluated using the US06 and FTP-75 driving cycles in MATLAB Simulink. The proposed controller outperforms the ACO-tuned proportional-integral-derivative (ACO-PID), conventional SMC, and PID controllers. The ACO-SMC controller significantly improves stabilization and robustness, even in the presence of measurement noise, external disturbance, and varying vehicle parameters. The results reveal that the hybrid ACO-SMC controller effectively minimizes chattering and maintains accurate speed control, even during sudden load disturbance and reference speed variations across all examined driving cycles. The integral absolute error (IAE) and integral squared error (ISE) are used as performance indices, achieving their minimum values over the complete US06 and FTP-75 driving cycles, thereby confirming the high accuracy of the proposed approach.

ABSTRAK: Kawalan kelajuan kenderaan elektrik (EV) dipengaruhi secara signifikan oleh dinamik motor tidak linear, gangguan luaran, serta ketidakpastian parameter, seterusnya menjejaskan prestasi penjejakan dan kecekapan tenaga. Pengawal konvensional lazimnya gagal mengekalkan keteguhan di bawah operasi yang berubah-ubah. Walaupun Kawalan Mod Luncur (SMC) menawarkan keteguhan yang tinggi, kaedah ini mengalami masalah chattering dan memerlukan penalaan parameter kawalan yang teliti. Bagi mengatasi isu ini, satu pengawal hibrid berasaskan Pengoptimuman Koloni Semut (ACO-SMC) dicadangkan bagi menala parameter SMC secara optimum. Prestasi pengawal ACO-SMC dinilai menggunakan kitaran pemanduan US06 dan FTP-75 pada MATLAB Simulink. Pengawal yang dicadangkan menunjukkan prestasi yang lebih baik berbanding pengawal PID yang ditala ACO (ACO-PID), SMC konvensional, dan PID biasa. ACO-SMC meningkatkan kestabilan dan keteguhan secara signifikan walaupun dalam kehadiran hingar pengukuran, gangguan luaran, serta variasi parameter kenderaan. Dapatan kajian menunjukkan bahawa pengawal hibrid ini berupaya meminimumkan fenomena chattering dan mengekalkan kawalan kelajuan yang tepat, termasuk semasa gangguan beban mendadak dan variasi rujukan kelajuan merentasi semua kitaran pemanduan yang diuji. Indeks prestasi seperti ralat mutlak berkamiran (IAE) dan ralat kuasa dua berkamiran (ISE) mencapai nilai minimum sepanjang satu kitaran penuh bagi kedua-dua kitaran pemanduan US06 dan FTP-75, sekaligus mengesahkan ketepatan tinggi melalui kaedah yang dicadangkan.

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