Chattering-Free Discrete-time Fast Terminal Sliding Mode Control of Automotive Electronic Throttle with Disturbances

Abstract

The electronic throttle determines the intake volume of the automobile engine, which directly affects the fuel efficiency and gas emissions of the engine. Improving the control performance of the automobile electronic throttle plays an important role in energy saving and emission reduction. However, due to multiple nonlinearities, i.e., friction, spring, gear backlash and a series of external disturbances, the accurate control of the electronic throttle is a challenging task. In this paper, a chattering-free discrete-time fast terminal sliding mode control law is designed for electronic throttle systems based on disturbance compensation. In the proposed algorithm, a nonsmooth function is introduced to replace the switching function in the traditional discrete-time sliding mode method. It alleviates the chattering problem of control signal. Moreover, the fast terminal sliding mode surface is applied in this algorithm to replace the linear sliding mode surface. Faster dynamic response and higher position tracking accuracy can be obtained. Furthermore, the disturbance compensation is added to the control law to eliminate the influence caused by disturbances, which improves the disturbance rejection ability. Finally, simulation comparisons with the traditional discrete-time sliding mode control are presented to validate the effectiveness and feasibility of the proposed control approach.