摘要
针对电液伺服系统,提出了一种小波自适应鲁棒反演控制方法.用两个小波神经网络来逼近电液伺服系统中的模型未知部分、参数不确定项和虚拟控制的导数,所有小波神经网络的参数均实现在线调节.控制律和自适应律的设计保证了闭环系统一致且最终有界,从而达到对非线性电液伺服系统稳定跟踪控制的目的.鲁棒补偿器的设计进一步改进了电液伺服系统的跟踪性能.仿真结果表明,该方法能较好地满足控制精度的要求,同时系统具有较强的适应性和鲁棒性.
Adaptive an wavelet backstepping control（WARBC） systems is proposed for electro-hydraulic servo systems.Two wavelet neural networks are used to approach the arbitrary model uncertainties of electro-hydraulic servo system,and all their weights are trained online.Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded（UUB） in a Lyapunov sense.As a result,the aim of electro-hydraulic servo system＇s tracking control can be achieved.In addition,a robust compensator is designed to improve the tracking performance.Finally,a computer simulation example is presented to illustrate the effectiveness and applicability of the suggested proposal.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2008年第5期405-409,共5页
Transactions of Beijing Institute of Technology
关键词
电液伺服系统
小波神经网络
自适应鲁棒控制
反演控制
electro-hydraulic system
wavelet neural network
adaptive robust control
backstepping control
