Abstract:The position control of an electro-hydraulic servo system is studied. Because the dynamics of 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 Backstepping sliding mode adaptive control approach based on the singular perturbation theory is proposed. Based on the double time scale theory in singular perturbation, an original system is divided into fast and slow subsystem. The control laws of fast and slow subsystems were designed separately and the compound control was attained. The Backstepping technique is used to solve the control problem of high-order nonlinear system, using the sliding mode to suppress external disturbances, making adaptive estimation for uncertain parameters. Simulation results are provided to show the effectiveness of the presented approach.
吴忠强; 夏青. 基于奇异摄动理论的电液伺服系统Backstepping滑模自适应控制[J]. , 2012, 31(11): 154-157.
WU Zhong-qiang; XIA Qing. Backstepping sliding mode adaptive control of electro-hydraulic servo system based on the singular perturbation theory. , 2012, 31(11): 154-157.