控制理论与应用2026，Vol.43Issue(2)：249-258,10.DOI:10.7641/CTA.2024.40122
基于命令滤波和神经网络的电液伺服系统有限时间反步控制
Finite-time backstepping control of electro-hydraulic servo system based on command filter and neural network
摘要
Abstract
To improve the tracking control performance of electro-hydraulic servo systems,considering the lumped uncertainties,including parameter uncertainty,unmodeled dynamics,and unknown disturbances,a finite-time backstepping control method based on command filter and neural network is proposed.A Levant differentiator is used as the command filter to obtain the derivative of the differential signal between the virtual input variable and the virtual control law,which not only avoids the"explosion of complexity"in standard backstepping control,but also estimates unmatched uncertainty through reconstruction;Compared with traditional neural network-based backstepping control that requires multiple neural networks,this method only uses one neural network to approximate the matched uncertainty,avoiding the complexity and fragility of controllers caused by multiple neural networks.By introducing piecewise feedback functions composed of a fractional exponential power function and a polynomial function to accelerate convergence,the system achieves finite time stability while avoiding singularity problems.Finally,an experimental platform is established to conduct comparative experiments,and the effectiveness and superiority of the proposed new method are verified.关键词
命令滤波/神经网络/有限时间稳定/反步控制/电液伺服系统Key words
command filter/neural network/finite-time stability/backstepping control/electro-hydraulic servo system引用本文复制引用
牛善帅,王军政,赵江波,沈伟..基于命令滤波和神经网络的电液伺服系统有限时间反步控制[J].控制理论与应用,2026,43(2):249-258,10.基金项目
国家自然科学基金项目(62173038),群体协同与自主实验室开放基金课题项目(QXZ23013202)资助.Supported by the National Natural Science Foundation of China(62173038)and the Collective Intelligence & Collaboration Laboratory Open Fund Project(QXZ23013202). （62173038）
