当前位置: X-MOL 学术Int. J. Adapt. Control Signal Process. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Adaptive prescribed performance control for hydraulic system with disturbance compensation
International Journal of Adaptive Control and Signal Processing ( IF 3.1 ) Pub Date : 2021-05-17 , DOI: 10.1002/acs.3262
Zhangbao Xu 1, 2 , Qingyun Liu 1, 2 , Jianyong Yao 3
Affiliation  

In this article, an adaptive prescribed performance controller is developed for hydraulic system with uncertainties. An extraordinary feature is that better prescribed performance control can be achieved by compensating the uncertainties including parameter uncertainties and disturbances. For this reason, the transformation of system output error is realized by a prescribed performance function, which is employed to constrain the boundary of tracking error and convergence rate, then the tracking error of the original system with a priori prescribed performance can be realized by stabilizing the transformed system. Adaptive control is employed to solve the system parametric uncertainties; extended state observers are built to estimate the multiple disturbances. Based on the backstepping method, they are integrated into the design of the novel controller to guarantee prescribed tracking error performance. The stability analysis of the proposed controller is carried out via the Lyapunov theory. Finally, experimental results indicate good performance of the proposed algorithm.

中文翻译:

带扰动补偿的液压系统自适应规定性能控制

在本文中,针对具有不确定性的液压系统开发了一种自适应指定性能控制器。一个非凡的特征是通过补偿包括参数不确定性和干扰在内的不确定性,可以实现更好的规定性能控制。为此,系统输出误差的变换是通过一个规定的性能函数来实现的,该函数用于约束跟踪误差的边界和收敛速度,然后通过稳定具有先验规定性能的原系统的跟踪误差来实现转换后的系统。采用自适应控制解决系统参数的不确定性;建立扩展状态观测器来估计多重干扰。基于回步法,它们被集成到新型控制器的设计中,以保证规定的跟踪误差性能。所提出的控制器的稳定性分析是通过李雅普诺夫理论进行的。最后,实验结果表明该算法具有良好的性能。
更新日期:2021-05-17
down
wechat
bug