【摘要】 针对具有模型不确定性、未知外部扰动的电液位置伺服系统，提出了一种基于观测器的自适应预设性能滑模控制策略。根据系统模型和Lyapunov稳定性理论，设计了有限时间干扰观测器(FTDO)对模型不确定性、未知外部扰动进行估计。同时根据有限时间性能函数(FTPF),设计的非线性滑模控制器能在预设的有限时间内将位置跟踪误差约束在规定精度内，实现规定的动态收敛性能和跟踪精度。仿真结果表明，该策略能较好地克服多种因素引起的干扰，改善系统的控制性能。更多还原

【Abstract】 An observer-based adaptive preset performance sliding mode control strategy is proposed for electro-hydraulic position servo system with model uncertainty and unknown external disturbance. According to the system model and Lyapunov stability theory, a finite-time disturbance observer(FTDO) is designed to estimate the model uncertainty, unknown external disturbance. Meanwhile, according to the finite-time performance function(FTPF), the designed nonlinear sliding mode controller can constrain the position tracking error within the prescribed accuracy within a preset finite time, and achieve the prescribed dynamic convergence performance and tracking accuracy. Simulation results show that the strategy can better overcome the interference caused by multiple factors and improve the control performance of the system.更多还原