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A robust adaptive chattering-free sliding mode (ACFSM) control method for electronic throttle (ET) system is proposed in this paper. It is well known that nonlinearities in the throttle system including friction, return-spring, limp-home (LH) and gear backlash affect the control accuracy of the throttle valve. Compared with the traditional sliding mode control methods, the ACFSM control not only overcomes the influence of nonlinearities and parameter uncertainties in the ET system, but also eliminates chattering in nature such that excellent throttle tracking performance and robustness are maintained. The proposed ACFSM control method is superior to the traditional sliding mode control in the following two aspects: 1) The chattering-free sliding mode control method is able to attenuate the control chattering without weakening the output tracking performance and robustness. 2) The upper bounds of the uncertainty and disturbance are not required any more in control design. They are online estimated by the adaptive law in the sense of Lyapunov. Moreover, due to the difficulty in selecting proper control parameters, the genetic algorithm (GA) is introduced to optimate the control parameters for the ACFSM controller prior to practical implementation. The comparative experimental results are given to demonstrate the excellent control performance of the proposed ACFSM control.

A Robust Adaptive Chattering-Free Sliding Mode Control Strategy for Automotive Electronic Throttle System via Genetic Algorithm