This paper deals with the real-time energy management of a fuel cell/battery/supercapacitors energy storage system for electric vehicles. The association of the battery and the supercapacitors with the fuel cell aims to reduce the hydrogen consumption while limiting the constraints on the fuel cell and the battery. In this paper, a real-time optimization-based energy management strategy by ?-control is proposed. Simulation results on a standard driving cycle show that the hydrogen consumption is reduced by 7% in comparison with a fuel-cell-based electric vehicle without any secondary energy storage source. Moreover, the energy management strategy ensures the system safety while preserving the fuel cell and the battery. Experimental results show that the developed energy management strategy is well-suited for the real-time requirements, applicability, and safety.