Adaptive Sliding Mode Control for Automotive Electronic Throttle based on Extremum Seeking

With the help of extremum seeking (ES), an improved adaptive sliding mode control (ES-ASMC) method is proposed to accomplish rapid and precise servo control of throttle angle. Some existing adaptive sliding mode control schemes applied to electronic throttle focus only on the switching gain, with limited attention to other parameters. While in the method presented in this study, all parameters of the sliding mode control (SMC) law are optimized simultaneously. An objective function is designed to measure the tracking error, which is subsequently reduced by ES with gradient descent to obtain a more favorable tracking response. In addition, a tracking differentiator is introduced to suppress the measurement noise of the output signal in place of the regular differentiator. Eventually, hardware experiments are conducted in an electronic throttle control (ETC) system to validate the effectiveness of the proposed approach. Comparison with other solutions reveals the superiority of the ES-ASMC in terms of tracking accuracy and response speed.