考虑状态约束的液压系统自适应控制
Adaptive Control of Hydraulic Systems with State Constraints

针对液压伺服系统中的状态约束和不确定性问题,提出一种考虑状态约束的液压伺服系统自适应控制算法。该算法基于障碍李雅普诺夫函数设计了有限时间干扰观测器和自适应控制器,其中:有限时间干扰观测器用于干扰估计,且能保证估计精确;自适应控制器用于处理系统参数不确定性;障碍李雅普诺夫函数用于约束状态并保证闭环系统稳定。实验结果表明,该算法能够约束系统输出速度和加速度,系统期望跟踪指令幅值为10 mm,稳态跟踪误差最大约为0.06 mm,相对跟踪误差约为0.6％,系统跟踪精度得到了提高。
An adaptive controller with state constraints is proposed for hydraulic systems, where a finite time disturbance observer and an adaptive controller are designed following barrier Lyapunov function. The finite time disturbance observer ensures disturbance estimation accuracy, and the adaptive controller handles parametric uncertainties. Barrier Lyapunov function is employed for state constraints to stabilize the closed loop system. Theoretically, the controller guarantees asymptotic tracking performance. Experimental results show that the algorithm can constrain the output velocity and acceleration, the maximum static tracking error is 0.06 mm when the amplitude of the desired tracking trajectory is 10 mm, and the maximum relative tracking error reaches 0.6%, thus the system tracking accuracy is obviously improved