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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 301656, 11 pages
Research Article

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

College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Received 26 November 2014; Revised 11 January 2015; Accepted 27 January 2015

Academic Editor: Xinggang Yan

Copyright © 2015 Yongfu Li et al. 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.


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.