基于动态面控制的机电系统自适应输出反馈预设性能控制

doi:10.3901/JME.260508

机械工程学报 ›› 2026, Vol. 62 ›› Issue (10): 414-424,436.doi: 10.3901/JME.260508

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基于动态面控制的机电系统自适应输出反馈预设性能控制

徐张宝¹, 任家林¹, 胡晓磊², 姚建勇³

1. 阜阳师范大学计算机与信息工程学院阜阳 236041;
2. 安徽工业大学机械工程学院马鞍山 234002;
3. 南京理工大学机械工程学院南京 210094

收稿日期:2025-05-12 修回日期:2025-12-07 发布日期:2026-07-29
作者简介:徐张宝,男,1988年出生,博士,副教授,硕士研究生导师。主要研究方向为机电液伺服系统非线性控制。E-mail:xuzhangbao1988@163.com;姚建勇(通信作者),男,1984年出生,博士,教授,博士研究生导师。主要研究方向为机电液伺服系统非线性控制、半实物仿真。E-mail:jerryyao.buaa@gmail.com
基金资助:
国家自然科学基金(52305044，U24A20112)、安徽省高校优秀青年教师培养(YQZD2024026)和安徽省高等学校自然科学基金(2023AH050385)资助项目。

Dynamic Surface Control-based Adaptive Output Feedback Prescribed Performance Control of Motor Systems

XU Zhangbao¹, REN Jialin¹, HU Xiaolei², YAO Jianyong³

1. School of Computer and Information Engineering, Fuyang Normal University, Fuyang 236041;
2. School of Mechanical Engineering, Anhui University of Technology, Maanshan 234002;
3. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2025-05-12 Revised:2025-12-07 Published:2026-07-29

摘要/Abstract

摘要： 机电伺服系统广泛应用于工业、航空航天、医疗等领域，不仅要求精确的稳态精度，而且还需要良好的动态性能。但机电伺服系统存在诸多不确定性，且由于结构、空间的限制，往往速度等状态无法通过安装传感器测得，系统的高性能需求很难满足。针对具有不可测状态和模型不确定性的机电位置伺服系统，提出一种基于动态面控制的自适应输出反馈预设性能控制方法。分别利用神经网络和自适应律对系统未建模动态和参数不确定性进行估计，并基于它们的估计值构建状态观测器和干扰观测器，对系统未知状态和时变干扰进行估计，然后基于预设性能函数设计输出反馈控制器，确保跟踪误差保持在预定义的边界内；同时将动态面控制技术引入Backstepping设计中，解决微分爆炸问题。利用李雅普诺夫理论证明了闭环系统的稳定性。最后，仿真和实验对比证明了所提出算法的有效性。

关键词: 机电伺服系统, 预设性能控制, 输出反馈控制, 动态面控制, 模型不确定性

Abstract: Electromechanical servo systems are widely used in industry, aerospace, medical and other fields, which requires not only accurate steady-state accuracy, but also good dynamic performance. However, there are many uncertainties in the electromechanical servo system, and speed and other states are generally not measured by installing sensors due to the limitations of structure and space, so the high-performance requirements of the system are difficult to meet. An adaptive output feedback prescribed performance control method based on dynamic surface control is proposed for the electromechanical position servo system with unmeasurable state and model uncertainty. Neural network and adaptive law are used to estimate the unmodeled dynamics and parametric uncertainties, respectively. Based on their estimates, a state observer and a disturbance observer are intergrated to estimate the unknown state and time-varying disturbance, and then an output feedback controller is designed based on the prescribed performance to ensure that the tracking error is kept within the predefined boundary. At the same time, dynamic surface control technology is introduced into backstepping design to solve the differential explosion problem. The stability of the closed loop system is proved by using Lyapunov theory. Finally, simulation and experimental comparison prove the effectiveness of the proposed algorithm.

Key words: electromechanical servo system, preset performance control, output feedback control, dynamic surface control, model uncertainty

中图分类号:

TP273

徐张宝, 任家林, 胡晓磊, 姚建勇. 基于动态面控制的机电系统自适应输出反馈预设性能控制[J]. 机械工程学报, 2026, 62(10): 414-424,436.

XU Zhangbao, REN Jialin, HU Xiaolei, YAO Jianyong. Dynamic Surface Control-based Adaptive Output Feedback Prescribed Performance Control of Motor Systems[J]. Journal of Mechanical Engineering, 2026, 62(10): 414-424,436.

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基于动态面控制的机电系统自适应输出反馈预设性能控制

Dynamic Surface Control-based Adaptive Output Feedback Prescribed Performance Control of Motor Systems

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