Electronic Throttle Valve Backstepping Control Based Sliding Mode Triangular Observer

In this paper, a backstepping based on sliding mode triangular observer control designed for Electronic Throttle Valve (ETV) system is proposed to regulate the throttle valve angle position with the occurrence of sensor and system faults. However, the presence of several non-smooth non-linearities such as limp-home springs, various frictions, gear backlash, external disturbances and parameter variations affect the throttle position accuracy. Thus, a fault-free state of the ETV is critical for its reliability and performance. Consequently, based on Lyapunov stability analysis, a backstepping control approach is proposed for a nonlinear ETV model associated with a sliding mode triangular observer to estimate the unmeasurable state variables and to detect and isolate the sensor faults and Coulomb friction change effects. The simulation results for the studied ETV show the efficiency of the established control method in terms of desired trajectory tracking despite the presence of non-linearities and sensor and system faults.