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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参数不确定和外载荷不确定的电液速度伺服系统有限时间收敛控制


扰动抑制是电液系统（EHS）中常见的控制问题之一，因为未知的外部负载和液压参数的不确定性通常会明显降低跟踪性能并使EHS的负载压力产生偏差。本文尝试在EHS中使用有限时间收敛控制器（FTCC）来解决这个问题。与渐进收敛控制器不同的是，该FTCC不仅提高了速度伺服系统的动态和稳态跟踪性能，而且保证了系统状态误差在有限时间内收敛到零。根据有限时间稳定原理，通过反步法和分数型李雅普诺夫技术推导出FTCC。通过与其他传统和先进控制器的比较仿真和实验结果验证了所提出的控制器的有效性。