Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer

This article proposes an extended state observer (ESO)-based robust adaptive dynamic sliding mode (ADSM) tracking control for an automobile engine electronic throttle (EET) system. The newly developed control scheme exhibits the following three attractive characteristics. First, a modified ESO is adopted to estimate the lumped uncertainty online. Second, an ADSM feedback control is then designed to achieve a robust closed-loop tracking performance. Third, the switching gain is adaptively updated by the adaptive law to eliminate the need of the uncertainty information. The stability proof combining the observer with the feedback control is presented in detail. High tracking precision and robustness of the proposed control are verified by extensive experimental results with comparison of existing adaptive sliding mode control and conventional robust controllers