Indirect adaptive fuzzy sliding mode control for uncertain longitudinal brake system of hybrid electric bus

In this paper, an indirect adaptive fuzzy sliding mode control scheme is designed for hybrid electric bus. The trajectory tracking control for stopping the bus in a bus station is proposed. The control strategies of regenerative braking in the hybrid electric bus add the control difficulty of the longitudinal braking system. Its nonlinearities are estimated by adaptive fuzzy method and projection method. The stability and convergence properties of the longitudinal brake control system are analytically proved by using Lyapunov stability theory and Barbalat's lemma. The simulation results demonstrate that the proposed controller shows a good performance of tracking the pre-designed profile even the brake system has the regenerative braking or has different initial state from the velocity profile.