Robust Chattering-free Sliding Mode Control of Electronic Throttle Systems in Drive-by-Wire Vehicles

This paper proposes a robust chattering-free sliding-mode (CFSM) control for an electronic throttle (ET) system in drive-by-wire vehicles. Although boundary layer method is used in traditional linear sliding-mode based-electronic throttle control systems to remove control chattering, both the tracking precision and control robustness are affected. The uniqueness of the proposed CFSM controller is that not only the high tracking precision and strong robustness of the ET control system against system nonlinearities and disturbances are achieved, but also the control smooth can be ensured. The comparative simulations are demonstrated to verify the excellent transient and steady-state tracking performance of the proposed controller.