电液伺服系统的非线性鲁棒自适应控制

摘要：针对电液伺服非线性系统的参数不确定性以及模型不确定项，基于Lyapunov稳定方法，提出了一种适用于电液伺服系统的非线性鲁棒自适应控制策略。首先以跟踪误差为基础给出系统目标控制函数的定义方法，然后基于Lyapunov稳定性分析方法，给出了不确定参数的自适应律， 以及自适应控制器的设计。同时引入一种简单的鲁棒设计方法补偿系统的模型不确定项。该方法具有结构简单，鲁棒性强的特点，并且系统控制量平稳，无振动现象出现。仿真结果显示，采用该控制方法可取得良好的控制效果，并进一步证实了理论分析的正确性。

Nonlinear Robust Adaptive Control of Electro-Hydraulic System

Based on Lyapunov method,a nonlinear robust adaptive control scheme is proposed for an electro-hydraulic system to reduce the influence of the systems uncertain parameters and uncertain model.Firstly,the control objective function is defined.Then,on the base of the control objective function,the adaptive controller and the parameters update laws are presented via using Lyapunov stability method and a simple robust method is introduced to compensate the model uncertainty.The proposed control scheme is simple and insensitive to parameter and model uncertainties.In addition,the controller is smooth and does not cause chattering phenomena.Simulation results show that the control approach can improve tracking accuracy effectively and the theory analysis is correct.