Nonlinear Control of Electronic Throttle Based on Backstepping Approach
American Journal of Electromagnetics and Applications
Volume 4, Issue 1, September 2016, Pages: 1-7
Received: Aug. 16, 2016; Accepted: Sep. 14, 2016; Published: Oct. 20, 2016
Views 4587      Downloads 171
Junli Wan, College of Electrical Engineering and Renewable Energy, China Three Gorges University, Yichang, China
Quyang Zeng, College of Electrical Engineering and Renewable Energy, China Three Gorges University, Yichang, China; Three Gorges Vocational College of Electric Power, Yichang, China
Shiyun Cheng, College of Electrical Engineering and Renewable Energy, China Three Gorges University, Yichang, China
Xianyong Wu, College of Electrical Engineering and Renewable Energy, China Three Gorges University, Yichang, China
Article Tools
Follow on us
In order to overcome the disadvantage of the non-linear attribute of electronic throttle and the deficiency of traditional PID controller, a control strategy is proposed based on backstepping method, in which the throttle position tracking is taken as control object, and the structure of the electronic throttle is analysed, a mathematical model of the electronic throttle is established. A backstepping controller is also designed based on Lyapunov stability theory. Step, slope and sine waves are taken as target signals respectively to complete tracking control simulation by two control strategies: PID and backstepping, the simulation result indicates that backstepping control has good dynamic characteristics, step response time is less than 100 ms and its control effect is significantly better than that of PID. In addition, PID simulation can not reflect the torque in actual system reset spring, the simulation is different with actual waveform, and the Backstepping simulation based on the control model of nonlinear system is more in line with the actual, this type of control can effectively solve the contradiction between fast response and large overshoot in time-varying non-linear system.
Electronic Throttle, Backstepping Control, Position Tracking, Simulate
To cite this article
Junli Wan, Quyang Zeng, Shiyun Cheng, Xianyong Wu, Nonlinear Control of Electronic Throttle Based on Backstepping Approach, American Journal of Electromagnetics and Applications. Vol. 4, No. 1, 2016, pp. 1-7. doi: 10.11648/j.ajea.20160401.11
Copyright © 2016 Authors retain the copyright of this article.
This article 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.
Yuan, X. F., Wang, Y. N. “A novel electronic throttle valve controller based on approximate model method,” IEEE Trans. Ind. Electron. 2009, 56 (3), pp. 883–890.
H. Yun-feng, L. Qi-fang, S. Peng-yuan, et al. “Design of an ADRC-based electronic throttle controller,” Proc. of the 30th Chinese Control Conference, Yantai, China, 2011, pp. 6340-6344.
Y. Xiao-fang, W. Yao-nan, W. Liang-hong, et al. “Neural Network Based Self-Learning Control Strategy for Electronic Throttle Valve,” IEEE Transactions on Vehicular Technology, 2010, 59 (8), pp. 3357-3765.
Yuan X., Wang Y., Sun W., et al. “RBF Networks-Based Adaptive Inverse Model Control System for Electronic Throttle,” IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010,18 (3), pp.750-756.
Yuan, X., Li, S., Wang,Y., et al. “LianghongWu Parameter identification of electronic throttle using a hybrid optimization algorithm,” Nonlinear Dyn, 2011, 63: pp. 549–557.
GENG J F, JIAO Y Y, LIU Z Y. “Fuzzy control on the electronic throttle,” Chinese Journal of Scientific Instrument, 2006, 27 (6): pp.847-848.
YU H Y, LU Y J, YANG S C. “Research on Electronic Throttle Control System Based on Position Feedback,” Automobile Technology,2007, (8), pp.8-11.
M. Vasak, M. Baotic, I. Petrovic, and N. Peric, “Hybrid theory-based time-optimal control of an electronic throttle,” IEEE Trans. Ind. Electron. 2007, 54 (3), pp. 1483–1494.
M.Vasak, M. Baotic, M. Morari, I., et al. “Constrained optimal control of an electronic throttle,” Int. J. Control, 2006,79 (5), pp. 465–478.
D. Kim, H. Peng, S. Bai, et al. “Control of integrated powertrain with electronic throttle and automatic transmission,” IEEE Trans. Control Syst. Technol. 2007,15 (3), pp. 474–482.
J. Deur, D. Pavkovic, N. Peric, et al. “An electronic throttle control strategy including compensation of friction and limphome effects,” IEEE Trans. Ind. Appl. 2004, 40 (3), pp. 821–834.
D. Pavkovic, J. Deur, M. Jansz, et al. “Adaptive control of automotive electronic throttle,” Control Eng. Pract. 2006,14 (2), pp. 121–136.
Y. Pan, U. Ozguner, and O. H. Dagci, “Variable-structure control of electronic throttle valve,” IEEE Trans. Ind. Electron. 2008, 55 (11), pp. 3899–3907.
K. Nakano, U. Sawut, K. Higuchi, et al. “Modelling and observer- based sliding-mode control of electronic throttle systems,” ECTI Trans. Electr. Eng. Electron. Commun. 2006, 4 (1), pp. 22–28.
M. Baric, I. Petrovic, and N. Peric, “Neural network-based sliding mode control of electronic throttle,” Eng. Appl. Artif. Intell. 18, no. 2005,8, pp. 951–961.
SUN W,ZHOU Y H,XI M L. “Method for parameter optimization of nonlinear PID controller,” Computer Engineering and Applications, 2010, 46 (28), pp. 244-248.
ZENG, Q. Y, WAN, J. L. “Nonlinear PID control of electronic throttle valve,” Proceeding of the 2nd International Conference on Electrical and Control Engineering, Yichang, China, IEEE, 2011,pp.722-724.
Sartori, D., Quagliotti, F., Rutherford, M.J., et al. “Design and Development of a Backstepping Controller Autopilot for Fixed-wing UAVs,” Denver University Unmanned Systems Research Institute, CO, USA, Tech. Rep. DU2SRI-2013-12-001 (2013).
LIU J K, SUN F C. “Nominal model-based sliding mode control with backstepping for 3-axis flight table,” Chinese Journal of Aeronautics, 2006, 19 (1), pp. 65-71.
DONG W H, SUN X X, LIN Y, “Adaptive backstepping control: development and applications,” Control and Decision, 2006,21(8), pp.1081-1086.
Yao, J., Jiao, Z., Yao, B. et al. “Nonlinear adaptive robust control of electro hydraulic load simulator,” China J. Aeronaut. 2012, 25 (5), pp. 766–775.
W. Sun, H. Gao, and O. Kaynak, “Adaptive backstepping control for active suspension systems with hard constraints,” IEEE/ASME Trans. Mechatronics, 2013, 18 (3), pp. 1072–1079.
Science Publishing Group
1 Rockefeller Plaza,
10th and 11th Floors,
New York, NY 10020
Tel: (001)347-983-5186