Command Filtered Control of Electrohydraulic Actuator with Friction Compensation
In order to meet the requirements of high-precision control of pump-controlled electro-hydraulic actuator(EHA),this paper proposes a control method based on friction compensation full-state feedback adaptive robust command filter control.With the development of the high-pressure trend of pump-controlled EHA,actuator friction has become a major factor affecting control accuracy.The modified friction model is applied due to its simple structure and ability to capture the main characteristics of nonlinear friction.In order to solve the problem of parameter uncertainty and model uncertainty in EHA,it proposes an adap-tive robust command filtered backstepping control method.Its advantage lies in overcoming the＂explosion of complexity＂prob-lem in traditional backstepping control and reducing the online burden of the system.The controller guarantees asymptotic track-ing performance,and the effectiveness of the algorithm is verified through the simulation.
Command Filtered ControlEHAFriction ModelFull State Feedback
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NSTL
万方数据
维普
