Luenberger-sliding mode observer based fuzzy double loop integral sliding mode controller for electronic throttle valve

Electronic throttle (ET) is typically complicated nonlinear dynamic systems with unknown state and disturbance. By considering the nonlinear uncertainties of stick-slip friction, spring and gear backlash, a new novel nonlinear controller for ET is proposed in this paper. In the controller, the reference tracking of the valve plate angle is filtered using Input shaping. Then, on the basis of the ET's model, the change of throttle opening is estimated using Luenberger-sliding mode observer (LSMO). Moreover, fuzzy logic system is applied to approximate the total uncertainties, including external disturbance and gear backlash torque. Based on this, an observer based fuzzy double loop integral sliding mode control (OFDLISMC) law, including internal loop and external loop, is derived. The convergence and stability performance of the ET system is assured with Lyapunov-based method and Barbalat's Lemma. Finally, numerical simulations are implemented to verify the effectiveness of proposed strategy, in terms of ET control precision, response time, as well as the robustness of controller.