Nonlinear Controllers for a Light-Weighted All-Electric Vehicle Using Chebyshev Neural Network

Table 1

Parameters of the EV system [11].

Motor		Vehicle
𝐿𝑎+𝐿field (mH)	6.008	𝑀 (kg)	800
𝑅𝑎+𝑅𝑓 (Ω)	0.12	𝐴 (m^2)	1.8
𝐵 (N.M.s.)	0.0002	𝜌 (kg/m^3)	1.25
𝐽 (kg m^2)	0.05	𝐶𝑑	0.3
𝐿𝑎𝑓 (mH)	1.766	𝜙 (°)	0
𝑉 (V)	0~48	𝜇rr	0.015
𝑖 (A)	78 A (250 max)	𝑟 (m)	0.25
𝜔 (r/min)	2800 (𝑣 = 25 km/h)	𝐺	11

Δ𝑀 = 150 (kg) for 𝑡 ≤ 195 and 𝑡 ≥ 780 (kg), Δ𝑀 = 220 for 𝑡 > 195, and 𝑡 ≤ 585 and Δ𝑀 = 300 (kg) for 𝑡 > 585 and 𝑡 < 780.