The disturbances suppression is one common control problem in electrohydraulic systems (EHSs) since both unknown external load and hydraulic parametric uncertainty often obviously degrade the tracking performance and bias the load pressure of EHS. In this paper, a finite-time convergent controller (FTCC) is tried to use in EHS to address this problem. Different from the asymptotic convergent controller, this FTCC not only improve the dynamic and steady tracking performance of the velocity servo system but also guarantee the system state error convergent to zero in a finite time. According to the finite-time stable principle, the FTCC is derived by backstepping and fractional-type Lyapunov techniques. The effectiveness of the proposed controller is verified by comparative simulation and experimental results with the other traditional and advanced controllers.

中文翻译：

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不确定参数和外部负载下电液速度伺服系统的有限时间收敛控制

干扰抑制是电液系统 (EHS) 中的一种常见控制问题，因为未知的外部负载和液压参数不确定性通常会明显降低 EHS 的跟踪性能并偏置负载压力。在本文中，尝试在 EHS 中使用有限时间收敛控制器 (FTCC) 来解决此问题。与渐近收敛控制器不同，该FTCC不仅提高了速度伺服系统的动态稳定跟踪性能，而且保证了系统状态误差在有限时间内收敛为零。根据有限时间稳定原理，FTCC是通过反步法和分数型Lyapunov技术推导出来的。