电液伺服系统的变结构自适应鲁棒跟踪控制研究

针对电液伺服系统的跟踪控制问题，在假设系统模型参数和不确定性界都未知的情况下，提出一种变结构自适应鲁棒控制方案。通过自适应方法来消除系统不确定性对系统控制性能的影响，从而达到良好的跟踪控制要求。基于李雅普诺夫稳定性理论证明了系统的渐进稳定性。仿真结果证明了该方案的有效性。

Research on Variable Structure Adaptive Robust Tracking Control for Electro-hydraulic Servo System

Aiming at the tracking control problem of electro - hydraulic servo system with unknown parameters of the system and unknown bound of uncertainty, a design method of variable structure adaptive robust control was presented. To eliminate the influence of uncertainty on the control performances, an adaptive method was used. Consequently the goal of tracking control was obtained. The asymptotical stability of system was proved based on Lyapunov theory. The simulation result verifies the validity of the proposed method.