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Abstract: Aiming at the tracking control problem of electro-hydraulic
servo system with uncertainties and nonlinearities, the second-order
sliding mode(SOSM)control algorithms based on time optimal control and
Lyapunov function are researched. The problems existed in the existing
time-optimal sliding mode control law are analyzed, and an improved SOSM
control algorithm with nearly time-optimal control is developed to
effectively reduce chattering and enhance responding speed without
losing robustness of the system. Taking the steering system model of
practical transporting and lifting machinery as example, the simulation
study on the algorithm is carried out, and its effectiveness is
confirmed.
Key words: Electro-hydraulic servo system Sliding mode control
Chattering Time optimal Robustness
CLC No: TP273
TH137
国家自然科学基金资助项目(50175097).
Received 20040530, received in revised form 20041028
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