Nonlinear Robust Velocity Control of Water Hydraulic Servomotor System
作者单位：Research AssociateDepartment of Mechanical EngineeringSophia University Kioicho 7-1ChiyodakuTokyo 1028554Japan
会议名称：《第二十二届中国控制会议》
会议日期：2003年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词：Water hydraulic servomotor Velocity control Nonlinear system Parameter uncertainty Robust control Lyapunov recursive design
摘 要：正This paper deals with the rotational velocity control of a water hydraulic servomotor system. Water hydraulic servo system is attractive technology for safety environment. Considering the parameter uncertainties, e.g. load fluctuation, friction parameters, parameter estimation error etc., a method of Lyapunov-based recursive design is applied to construct a robust rotational velocity controller. The proposed controller ensures that the set to which state error approaches to can be made arbitrary small by choosing the control gain. This is called the uniformly ultimate bounded stability. The effectiveness of the proposed controller is examined numerically.