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- Title
基于 ESO 的电液位置伺服系统自适应反步滑模控制.
- Authors
岳坤明; 钱炜; 沈伟; 袁小康
- Abstract
Aiming at the problems of uncertain parameters, external disturbance and unmeasurable system state of valve-con- trolled electro-hydraulic position servo system, an adaptive backstepping sliding mode control strategy with ESO (extended state ob- server) was proposed based on backstepping control and sliding mode control theory. The nonlinear state space equation of the system was established, and an ESO was designed based on the system model to estimate the velocity and external disturbance effectively. At the same time, the adaptive algorithm was introduced to estimate the uncertain parameters of the system online, and the adaptive law of the uncertain parameters was designed. The stability of the designed controller was proved by Lyapunov stability theorem. Finally, the simulation results show that the designed controller can effectively estimate the velocity and external disturbance, and it has high- quality position tracking ability.
- Subjects
BACKSTEPPING control method; LYAPUNOV stability; ELECTROHYDRAULIC effect; ADAPTIVE control systems; UNCERTAIN systems; SLIDING mode control; EQUATIONS of state; VELOCITY
- Publication
Machine Tool & Hydraulics, 2023, Vol 51, Issue 12, p30
- ISSN
1001-3881
- Publication type
Article
- DOI
10.3969/j.issn.1001-3881.2023.12.006