【摘要】 研究了电液位置伺服系统的自适应反演控制策略。针对电液位置系统的非线性数学模型,采用反演设计算法并设计GCMAC神经网络逼近系统不确定性,从前向后逐步递推得到了系统的控制Lyapunov函数。基于Lyapunov稳定性理论,给出了鲁棒自适应控制律和GCMAC神经网络权值调整算法,确保系统稳定且输出跟踪误差渐近收敛于零。仿真结果证明了该控制策略的有效性。更多还原

【Abstract】 An adaptive backstepping control method on electro-hydraulic position servo system was investigated.For nonlinear math model of electro-hydraulic position system,backstepping method was used and GCMAC neural network was designed to estimate the unknown uncertainties,and control Lyapunov functions(CLFs) were acquired.Based on Lyapunov stability theory,robust adaptive controller and GCMAC neural network weights turn laws were designed,which guarantees the output tracking error converging to zero while the system is stabilized.The simulation results illustrate that the effectiveness of the control method.更多还原