Robust Control of an Electronic Throttle System Via Switched Chattering Control: Benchmark Experiments

Abstract: A robust controller with chattering is proposed based on a simplified model of an electronic throttle system. The chattering term provides robustness against un-modeled nonlinearities, e.g., limp-home nonlinearity, parameter dispersion, and friction phenomena. As the simplified model of the throttle system can be seen to correspond to a horizontal one-degree-of-freedom robot manipulator, the proposed controller is based on a previously designed robust control for regulation of robot manipulators with fric-tion. Moreover, this controller uses only position measurements as the throttle benchmark unit does not have velocity measurements. The conceived controller is then tested in the Benchmark throttle numerical platform offered by the host conference and their affiliates