Robust adaptive position control of automotive electronic throttle valve using PID-type sliding mode technique

This paper proposes a robust adaptive position control scheme for automotive electronic throttle (ET) valve. Compared with the conventional throttle control systems, in this paper, a robust adaptive sliding mode (RASM) control scheme is developed in order to eliminate the effects of the parameter uncertainties and nonlinearities including friction, return-spring limp-home and gear backlash. It is shown that both the lumped uncertainty bound and the control gains are adaptively estimated by the update laws, such that not only the bound information of the lumped uncertainty and the control gains are no longer required, but also a robust tracking performance can be ensured in the presence of the parametric variations and disturbances. The comparative simulation and experimental studies are demonstrated to verify the excellent transient and steady-state tracking performance of the proposed RASM controller for ET systems.