电液伺服系统的多滑模鲁棒自适应控制

针对一类参数与外负载非匹配不确定的非线性高阶系统,提出了一种基于逐步递推方法的多滑模鲁棒自适应控制策略.应用逐步递推的多滑模控制方法简化了高阶系统的控制问题,同时在自适应控制中加入鲁棒控制的方法,以消除不确定性对控制性能的影响.首先利用逐步递推方法与状态反馈精确线性化理论,得出确定系统的多滑模控制器设计方法;然后基于Lyapunov稳定性分析方法,给出不确定系统的参数自适应律,及鲁棒自适应控制器的设计方法.本文把该控制策略应用到电液伺服系统的位置跟踪控制中,仿真结果显示,该控制方法具有较强的鲁棒性及良好的跟踪效果.

Multiple sliding mode robust adaptive control of an electro-hydraulic servo system

A multiple sliding mode robust adaptive control strategy is proposed for a class of higher-order nonlinear systems with mismatched uncertain parameters and external load.Recursive technique is used to simplify the control problem of higher-order system.A robust adaptation scheme was used to reduce the tracking error resulted from system uncertainties.First,the recursive technique and state feedback precise linearization scheme is used to obtain the design method of multiple sliding mode controller of a given system.Next,the system-parameter-update law and robust adaptive controller of an uncertain system are presented based on Lyapunov scheme.The proposed method is applied to a position tracking control of electro-hydraulic servo system.The simulation shows that the control approach has good robustness and improves position tracking accuracy considerably.