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

Table 2

Comparative results of driving cycle test.

Controller	Amp-hour consumption
Nonlinear optimal [11]	4.48 km/11.97 AH
Nonlinear robust [11]	4.4825 km/10.78 AH
CNN based backstepping	4.4834 km/10.75 AH
CNN based optimal adaptive	4.4795 km/10.70 AH