【摘要】 本文根据极点配置设计理论，提出一种适用于机器人电液伺服系统自校正自适应控制的方法，推导出三阶自校正控制加权系数的精确解析式，提出主导加权系数的概念，使自校正自适应控制中的五个加权系数化街为二个，克服了液压机器人在线自适应控制难的问题。更多还原

【Abstract】 Based on the requirement of pole-assignment,this paper presents a self - tuning control method which is suit to electrohydraulic servo system for a robot, derives an exact analytical expression to control weight coefficients, and puts forward the concept of leading weight coefficient. By simplifying weight coefficients from 5 to 2, this method overcomes the difficulty of adaptlve control on line for hydraulic robot.更多还原