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Considering the high accuracy requirement of information exchange via vehicle-to-vehicle (V2V) communications, an extended state observer (ESO) is designed to estimate the opening angle change of an electronic throttle (ET), wherein the emphasis is placed on the nonlinear uncertainties of stick-slip friction and spring in the system as well as the existence of external disturbance. In addition, a back-stepping sliding mode controller incorporating an adaptive control law is presented, and the stability and robustness of the system are analyzed using Lyapunov technique. Finally, numerical experiments are conducted using simulation. The results show that, compared with back-stepping control (BSC), the proposed controller achieves superior performance in terms of the steady-state error and rising time

Extended State Observer Based Adaptive Back-Stepping Sliding Mode Control of Electronic Throttle in Transportation Cyber-Physical Systems