Adaptive backstepping position control for electro-hydraulic servo systems

作者：Yang Fang^*; Li Jishun; Si Donghong; Zhang Wei

来源：Journal of Computational Information Systems, 2013, 9(23): 9629-9636.

DOI：10.12733/jcis7943

• Adaptive back-stepping
• Cerebellar model articulation controller
• Electro hydraulic servo system
• Electrohydraulic position servo systems
• Nonlinear
• Output-tracking
• Robust adaptive backstepping
• Robust adaptive controller

A robust adaptive backstepping control method for electro-hydraulic position servo system is investigated. For uncertainties nonlinear math model of electro-hydraulic position servo system, designed cerebellar model articulation controller (CMAC) neural network to estimate the system unknown uncertainties, then used backstepping method to acquire control Lyapunov functions (CLFs) step by step. Based on Lyapunov stability theory, designed robust adaptive controller and CMAC neural network weights turn laws, which can guarantee the output tracking error converging to zero while the system states are bounded. The simulation results demonstrate that the proposed adaptive backstepping controller have the good tracking performance and strong robustness to the parameter uncertainties and external loading perturbation.

• 出版日期2013
• 单位河南大学