阀控非对称缸系统多级滑模鲁棒自适应控制

考虑阀控非对称缸系统的特性,设计了一种基于逆向递推方法的多级滑模鲁棒自适应控制器。首先采用Backstepping逆向递推技术和状态反馈线性化的方法,给出系统的多级滑模控制器。然后依据Lyapunov稳定性理论,得到系统不确定参数的自适应律,并在自适应控制中引入鲁棒控制的设计方法,实现对活塞位移的精确位置跟踪控制。实验结果表明,多级滑模鲁棒自适应控制具有较强的鲁棒性和良好的跟踪性能。

Mode Robust Adaptive Control for Valve Controlled Asymmetric Cylinder System

Considering the characteristics of valve controlled asymmetric cylinder system,a multiple sliding mode robust adaptive controller was designed.First,backstepping technique and state feedback linearization method were used to attain a multiple sliding mode controller.Next,based on Lyapunov stability theory,the uncertain parameters adaptation laws were presented and a robust adaptive controller combined with sliding mode method was designed to track piston displacement accurately. Experimental results show th...