Research Article
Nonlinear Controllers for a Light-Weighted All-Electric Vehicle Using Chebyshev Neural Network
Table 3
RMS tracking error of controllers designed.
| Controller | RMS value of tracking errors |
| Conventional backstepping | 0.0301 | CNN based backstepping | 0.0279 | Optimal | 0.0165 | CNN based optimal adaptive | 0.0040 |
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