Abstract
This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters,mismatched and matched disturbances.Different from the traditional adaptive results that are applied to dispose of unknown constant parameters only,the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant parameters.Concurrently both mismatched and matched distur-bances existing in electro-hydraulic axis systems can also be addressed in this way.With skillful inte-gration of the backstepping technique and the adaptive control,a synthesized controller framework is successfully developed for electro-hydraulic axis systems,in which the coupled interaction between parameter estimation and disturbance estimation is avoided.Accordingly,this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and disturbances.Also,a nonlinear filter is designed to eliminate the"explosion of complexity"issue existing in the classical back-stepping technique.The stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also assured.Finally,contrastive experiment results validate the superiority of the developed method as well.
基金项目
National Key R&D Program of China(2021YFB2011300)
National Natural Science Foundation of China(52075262)
National Natural Science Foundation of China(51905271)
National Natural Science Foundation of China(52275062)
Fok Ying-Tong Education Foundation of China(171044)
Postgraduate Research & Practice Innovation Program of Jiangsu Province(KYCX22_0471)
NETL
NSTL
维普
万方数据