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To eliminate the lack of driving tele-presence, the errors from nonlinearity and dynamic modeling uncertainty, the control algorism based on the bilateral servo with force feedback and the theory of master-slave tele-manipulation was presented for electronic throttle system. The position deviation between ideal angle and real angle was used as input signal. The dynamic robust compensator controlled the accelerator pedal by-wire to make driver’s perception of feedback force. The fuzzy sliding mode controller based on equivalent controlled the real angle of electronic throttle to track the ideal angle. The simulation presents effectiveness of the designed control algorism. The experimental results on the electronic 6-DOF driving simulator show that the control algorism can eliminate the position errors rapidly and accurately, provides driving tele-presence and enhances the robustness and adaptive ability.