Adaptive Backstepping Sliding Mode Control of Passive Electro-hydraulic Force Servo System

doi:10.3969/j.issn.1000-1093.2017.03.027

Abstract

Abstract: An adaptive backstepping sliding mode control strategy is proposed for passive electro-hydraulic force servo system, which contains inherent extra torque, nonlinearity of servo valve and time-varying parameters. A nonlinear state space equation of the system is established. A backstepping controller is designed based on the backstepping control theory and three-step recursive method. A nonlinear adaptive backstepping sliding mode controller is designed by using the sliding mode control method in the third step of the backstepping method, selecting a proper Lyapunov function and gving the adaptive law of uncertain parameters. The stability of the controller is tested by the Lyapunov stability theory. Both the simulated and test results show that the controller can effectively restrain the extra torque and possesses a strong robustness to both parameter perturbation and external disturbance. Key

Key words: controlscienceandtechnology, passiveelectro-hydraulicforceservosystem, extratorque, time-varyingparameter, nonlinear, adaptivebacksteppingcontrol, slidingmodecontrol

CLC Number:

V216.8

LI Ge-qiang， GU Yong-sheng， LI Jian， LI Yue-song， GUO Bing-jing. Adaptive Backstepping Sliding Mode Control of Passive Electro-hydraulic Force Servo System[J]. Acta Armamentarii, 2017, 38(3): 616-624.

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