一种基于积分反推原理的非线性伺服控制方法

A Nonlinear Servo Control Method Based on Integral Backstepping Scheme

针对机械伺服系统,提出了一种基于积分反推原理的新型的伺服控制器。该控制器对外部扰动及系统参数变化具有较强的鲁棒性。对直流电机伺服系统进行了数字仿真,结果表明了这种新型控制器的有效性。

For mechanical servo system, a novel servo controller based on integral backstepping scheme was presented, the controller has strong robustness to external disturbance and system parameter changes. Simulation results for a DC motor servo system show the effectiveness of the proposed approach.