%0 Journal Article
%T Multiple sliding mode robust adaptive control of an electro-hydraulic servo system<br>电液伺服系统的多滑模鲁棒自适应控制
%A GUAN Cheng
%A ZHU Shan-an
%A <br>管成
%A 朱善安
%J 控制理论与应用
%D 2005
%I 
%X A multiple sliding mode robust adaptive control strategy is proposed for a class of higher-order nonlinear systems with mismatched uncertain parameters and external load.Recursive technique is used to simplify the control problem of higher-order system.A robust adaptation scheme was used to reduce the tracking error resulted from system uncertainties.First,the recursive technique and state feedback precise linearization scheme is used to obtain the design method of multiple sliding mode controller of a given system.Next,the system-parameter-update law and robust adaptive controller of an uncertain system are presented based on Lyapunov scheme.The proposed method is applied to a position tracking control of electro-hydraulic servo system.The simulation shows that the control approach has good robustness and improves position tracking accuracy considerably.
%K higher-order nonlinear system
%K multiple sliding mode control
%K robust adaptive control
%K electro-hydraulic servo system
%K position tracking control<br>高阶非线性系统
%K 多滑模控制
%K 鲁棒自适应控制
%K 电液伺服系统
%K 位置跟踪控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=2D75C1F32799744C&yid=2DD7160C83D0ACED&vid=BC12EA701C895178&iid=B31275AF3241DB2D&sid=90EAFEE49150CFCD&eid=502AE9EE93CAADD7&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=6&reference_num=14