基于干扰观测器的弹丸协调器电液伺服系统自适应滑模控制

针对弹丸协调器电液伺服系统中存在非匹配不确定性和参数不确定性问题，提出一种基于干扰观测器的自适应滑模控制策略。采用干扰观测器估计系统中的非匹配不确定性，通过Lyapunov稳定性理论证明干扰观测器的稳定性，并将其引入新型积分滑模切换函数的设计中，使控制器能够对非匹配不确定性提供有效补偿，提高控制精度。为了降低系统参数不确定性的影响，在滑模控制器设计中引入自适应律以保证控制器的动态性能，并对控制器的全局稳定性进行了证明。实验结果表明：采用的干扰观测器和自适应律能够准确描述系统特性；基于干扰观测器的自适应滑模控制器能够满足期望轨迹的跟踪要求，使设计的控制器在不同工况下均具有较好的动态跟踪特性和稳态精度，并具有较强的鲁棒性。

Adaptive Sliding Mode Control for Electro-hydraulic Servo System of Ammunition Manipulator Based on Disturbance Observer

A disturbance observer-based adaptive sliding mode control strategy is proposed for ammunition manipulator electro-hydraulic servo system with unmatched and parameter uncertainties. A disturbance observer is adopted to estimate the unmatched uncertainties in the system, and the stability of disturbance observer is proved by Lyapunov stability theory. In order to effectively compensate the unmatched uncertainties and improve the control accuracy, the disturbance observer is introduced into the design of integral sliding mode switching function. An adaptive law is introduced into the design of sliding mode controller to improve the dynamic performance, which reduces the influence of system parameter uncertainties. Besides, the global stability of the controller is proved. Experimental results show that the disturbance observer and the adaptive law can accurately describe the system characteristics, the disturbance observer-based adaptive sliding mode controller proposed in this research tracks the desired tracking trajectory well. The designed controller has strong robustness and guarantees prescribed dynamic tracking characteristics and final steady-state accuracy under different operating conditions.