Research on adaptive backstepping control of manipulator driven by electro-hydraulic servo system
In practical application,the electro-hydraulic servo system has the characteristics of nonlinearity and uncertain parameters,and may be disturbed by external random interference during the movement of the actuator,which will have a great impact on the control of the electro-hydraulic servo system.In order to improve the dynamic behavior of electro-hydraulic servo system under parameter uncertainty and unknown disturbance(i.e.hydraulic parameters and external load).Firstly,the electro-hydraulic servo system is controlled by using the backstepping method based on Lyapunov.Then the control method of restraining or compensating external random interference and system nonlinearity is studied by using parameter adaptive backstepping based on Lyapunov,and the advantages and disadvantages of these two control strategies are compared.It shows that the parameter adaptive backstepping method based on Lyapunov can still guarantee good performance of the system evaluated with multiple unknown parameters.
万方数据
维普
