针对电液伺服系统模型中存在不匹配的不确定非线性和状态不可测的问题，提出一种基于指令滤波的输出反馈控制算法.该控制算法有效融合了扩张状态观测器和指令滤波技术，实现了对系统模型状态及时变干扰的估计，解决了状态不可测和不确定非线性在线估计的问题，实现了对干扰的主动补偿.在控制器的设计过程中，利用指令滤波器避免了反步设计中的“微分爆炸”问题.基于Lyapunov函数证明了所设计控制器的稳定性且证明了所有信号均有界，实验结果验证了所设计控制器的有效性.
An output feedback control algorithm with command filtering is proposed to solve the problem of uncertain nonlinear and unmeasurable state in the nonmatching model of electro-hydraulic servo systems. Through the effective integration of the extended state observer and command filtering technique, the state and external disturbances of the system are estimated by the extended state observer, the unmeasurable and uncertain nonlinear state problems are solved, and simultaneously the active compensation for disturbances is implemented. In process of controller design, the ‘differential explosion’ problem in backstepping scheme is avoided by using the command filter. Based on the Lyapunov function, the stability of the designed controller is proved and all the signals are bounded. The experimental results verify the effectiveness of the designed controller.
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