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

机译:基于延长的状态观测器基于电子油门在运输网络 - 物理系统中的电子节气门的自适应后踏步滑动模式控制

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摘要

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.
机译:考虑到信息交换通过车辆到车辆(V2V)通信的高精度要求,延伸状态观察器(ESO)旨在估计电子节流阀(ET)的开口角度变化,其中重点放置在非线性上系统中粘滑摩擦和弹簧的不确定性以及外部干扰的存在。另外,呈现了包含自适应控制定律的后踏步滑动模式控制器,并且使用Lyapunov技术分析了系统的稳定性和稳健性。最后,使用模拟进行数值实验。结果表明,与后台步进控制(BSC)相比,所提出的控制器在稳态误差和上升时间方面实现了卓越的性能。

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