Nonsingular Terminal Sliding Mode Control Based on Sensor-Cloud System for Permanent Magnet in-Wheel Motor

A nonsingular terminal sliding mode control (NTSMC) scheme based on beetle antennae search (BAS) algorithm is employed in this paper to overcome the internal interference of permanent magnet in-wheel motor (PMIWM) applied in the hybrid electric vehicles (HEVs). Firstly, a nonsingular terminal sliding mode approaching is applied to accelerate approaching speed and improve the response speed of the PMIWM system. Secondly, aiming at the undesired chattering caused by the large switching gain during the sliding mode control, fuzzy rules and fuzzy controller are designed to adjust sliding mode approaching parameter in online to inhibit the chattering phenomenon. Finally, a BAS algorithm based on sensor-cloud system (SCS) is adopted in this paper to obtain the ideal control parameters for the NTSMC control strategy, which can effectively improve the dynamic performance of the PMIWM. Through various simulation and experiments, the results demonstrate the proposed BAS-NTSMC strategy has optimal control performance and robustness, as well as reducing the chattering phenomenon during the control process significantly.