This paper proposes an adaptive tracking control scheme for an electronic throttle valve (ETV) based on recursive terminal sliding mode (RTSM) control strategy in the presence of parametric uncertainties and lumped disturbance. The developed RTSM dynamical structure for the controller is composed of a fast nonsingular terminal sliding surface and a recursive integral terminal sliding function, such that not only is the reaching phase eliminated, but also a sequential finite-time zero-convergence of both the recursive sliding surfaces and position tracking error are guaranteed. Due to the difficulty in ensuring a satisfactory tracking performance with respective to a broad range of operation conditions in practice, an adaptive mechanism is further developed to estimate both the lumped uncertainty bound and the sliding mode parameters, such that no prior knowledge of the system is required in the controller leading to the effective improvement of the flexibility and simplicity of sliding mode-based ETV control systems. Comparative experiments are conducted to verify that the proposed control enjoys a fast finite-time convergence and superior robustness with respect to uncertainties and disturbances.

中文翻译：

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基于递归终端滑模的电子节气门自适应跟踪控制

针对存在参数不确定性和集总扰动的情况，提出了一种基于递归终端滑模（RTSM）控制策略的电子节气门（ETV）自适应跟踪控制方案。为控制器开发的RTSM动力学结构由快速非奇异终端滑动表面和递归整体终端滑动功能组成，因此不仅消除了到达阶段，而且递归滑动的顺序有限时间零收敛表面和位置跟踪误差得到保证。由于在实践中难以确保在广泛的操作条件下获得令人满意的跟踪性能，因此进一步开发了一种自适应机制来估计集总不确定性界限和滑模参数，因此，控制器中不需要系统的先验知识，就可以有效地改善基于滑模的ETV控制系统的灵活性和简单性。进行了比较实验，以验证所提出的控件在不确定性和干扰方面具有快速的有限时间收敛性和出色的鲁棒性。