基于奇异摄动理论的电液伺服系统Backstepping滑模自适应控制

针对电液伺服位置跟踪系统中存在的非线性特性、系统参数和外部负载的非匹配不确定性，提出了基于奇异摄动理论的电液伺服系统的Backstepping滑模自适应控制。利用奇异摄动中双时间刻度理论将原系统分解为快慢变子系统，分别设计快变和慢变子系统的控制律，再合成得到复合控制器。应用Backstepping的逆向递推方法有效地解决了高阶非线性系统的控制问题，用滑模方法抑制系统的外部扰动，对系统的不确定性参数进行自适应估计。数字仿真的结果验证了所设计控制器的正确性和有效性。

Backstepping sliding mode adaptive control of an electro-hydraulic servo system based on singular perturbation theory

The position control of an electro-hydraulic servo system was studied.Because the dynamic behaviors of the system were highly nonlinear and had large level of model uncertainties including big changes in load and hydraulic parameters,moreover,these uncertainties were unmatched,a backstepping sliding mode adaptive control approach based on singular perturbation theory was proposed.Based on the double time scale theory in singular perturbation,an original system was divided into fast and slow subsystems.The control laws of the fast and slow subsystems were designed separately and a compound control was attained.The backstepping technique was used to solve the control problem of the high-order nonlinear system,the sliding mode technique was used to suppress external disturbances,the adaptive estimation was made for uncertain parameters.Simulation results verified the effectiveness of the presented approach.