Continuous sliding mode control of electronic throttle via generalized proportional integral observer

Abstract

The electronic throttle system is always affected by parameter uncertainties, nonlinear characteristics, and external disturbances, all of which hinder the performance of the system. This poses a challenge to high-precision position tracking of the electronic throttle system. To address these issues, by regarding the disturbances as a total time-varying disturbance, a model description of the electronic throttle system incorporating the total disturbance is established. Then, a generalized proportional integral observer is devised based on the model to estimate both the disturbance and the states of the electronic throttle system. By integrating the estimated disturbances provided by the generalized proportional integral observer, a novel dynamic sliding surface is constructed. Subsequently, a continuous sliding mode control–based output feedback control framework is designed. The proposed control strategy not only effectively suppresses time-varying disturbances, enhancing the robustness of the electronic throttle system, but also employs a continuous control law, which significantly reduces the inherent chattering phenomenon in traditional sliding mode control. A detailed stability analysis of the closed-loop system is guaranteed under the presented approach. Experimental results demonstrate the feasibility and effectiveness of the proposed control method.