This article proposes an improved adaptive finite time command filtered controller for high-precision motion control of electro-hydraulic servo systems. During the controller design process, the effects of parameter uncertainty, unmodeled disturbances, and dead zone uncertainty in the system are effectively addressed by integrating parameter adaptive laws and disturbance estimation laws. By extending the system states, this strategy eliminates the need for the controller to rely on the first-order derivative of the tracking trajectory, making it applicable in tracking non smooth curves. Through Lyapunov stability analysis and comparative simulation experiments, it is shown that even in the presence of unmodeled disturbances, unknown system parameters, and unknown dead zone characteristics in the system, the developed controller can still achieve adjustable neighborhood tracking errors around the origin in a finite time.

中文翻译：

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带死区的有限时间指令滤波电液系统位置控制

本文提出了一种改进的自适应有限时间命令滤波控制器，用于电液伺服系统的高精度运动控制。在控制器设计过程中，通过集成参数自适应律和扰动估计律，有效地解决了系统中参数不确定性、未建模扰动和死区不确定性的影响。通过扩展系统状态，该策略消除了控制器对跟踪轨迹的一阶导数的依赖，使其适用于跟踪非平滑曲线。通过Lyapunov稳定性分析和对比仿真实验表明，即使在系统存在未建模扰动、未知系统参数和未知死区特性的情况下，所开发的控制器仍然可以在有限的范围内实现围绕原点的可调节邻域跟踪误差。时间。