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Mathematical Problems in Engineering
Volume 2014, Article ID 383064, 8 pages
Research Article

Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

School of Electrical Engineering, Liaoning University of Technology, Jinzhou 121001, China

Received 19 December 2013; Revised 25 March 2014; Accepted 28 March 2014; Published 24 April 2014

Academic Editor: Mingcong Deng

Copyright © 2014 Rui Bai and Shaocheng Tong. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding-mode controller of the electronic throttle is developed. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control method can achieve favorable tracking performance.