Barrier Lyapunov Function-Based Adaptive Back-Stepping Control for Electronic Throttle Control System

Abstract

This paper presents an adaptive constraint control approach for Electronic Throttle Control System (ETCS) with asymmetric throttle angle constraints. The adaptive constraint control method, which is based on barrier Lyapunov function (BLF), is designed not only to track the desired throttle angle but also to guarantee no violation on the throttle angle constraints. An ETC mathematic model with complex non-linear system is considered and the asymmetric barrier Lyapunov function (ABLF) is introduced into the design of the controller. Based on Lyapunov stability theory, it can be concluded that the proposed controller can guarantee the stability of the whole system and uniformly converge the state error to track the desired throttle angle. The results of simulations show that the proposed controller can ensure that there is no violation on the throttle angle constraints.

Keywords

• electronic throttle control
• constraint control
• barrier Lyapunov function
• throttle opening angle
• adaptive back-stepping control