带有多非线性干扰观测器的电液伺服反演控制

Backstepping Control for Electro- Hydraulic Servo System with Nonlinear Disturbance Observers

针对高阶不匹配不确定非线性电液伺服系统,提出一种动态面反演控制策略,以实现对电液伺服系统的位置控制。采用多个非线性干扰观测器观测出电液伺服系统的各阶子系统的不确定项和干扰项,对使用非线性干扰观测器后的系统实行反演控制,使用动态面方法来解决传统反演控制中虚拟控制量随着系统阶数的增加而愈加繁杂的问题。基于Lyapunov方法从理论上证明了所设计的系统控制器能够保证闭环系统有界稳定,系统中所有信号是一致最终有界的,仿真结果验证了反演控制方法的正确性。

A dynamic surface backstepping control scheme with nonlinear disturbance observers is proposed for high order nonlinear electro - hydraulic positioning servo system with mismatched uncertainties. Nonlinear disturbance observers are used to observer uncertainties and disturbances of subsystems. Backsteppiug controller is designed for the system with nonlinear disturbance observer. Dynamic surfaces are used to avoid the tedious computations of time derivatives of traditional visual controllers. All the signals in the closed - loop control system are uniformly ultimately bounded in the sense of Lyapunov, the system is stable. The proposed method is validated by simulation.