基于Backstepping的电液伺服系统多级自适应滑模控制

针对电液伺服系统的非线性特性、系统参数及外部负载的非匹配不确定性,在电液伺服系统的位置跟踪控制中,提出了基于Backstepping逆向递推技术的多级自适应滑模控制方法,应用Backstepping的逆向递推方法有效地解决了高阶系统的控制问题,并结合了自适应方法和滑模控制方法各自优良的抗干扰特点。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性能。

Backstepping-based Multiple Cascade Adaptive Sliding Mode Control of an Electro-hydraulic Servo System

The position control of an electro-hydraulic servo system is studied.Because the dynamics of the system are highly nonlinear and have large extent of model uncertainties including big changes in load and hydraulic parameters,moreover these uncertainties are unmatched,a multiple cascade adaptive sliding mode control approach based on backstepping technique is proposed.The control approach uses backstepping technique to solve the control problem of high-order system,and combines the advantages of adaptive control and sliding mode control.Simulation results indicate that the proposed approach is robust and improves position tracking accuracy considerably.