Adaptive Backstepping Robust Control of Nonlinear Spray Boom System

— In this paper, a two-asymmetric hydraulic cylinder electro-hydraulic servo system model is established for the spray boom. Because of spray boom vibration and tilt ,which are caused by boom sprayer during its walking, and hydraulic cylinder parameter drift due to environmental changes, an adaptive backstepping control algorithm with an integral-type Lyapunov function is designed to ensure the balance of the boom and a certain height with the ground. Moreover ， a higher performance nature of the proposed nonlinear adaptive robust control approach was presented in comparison to the proposed control without adaptation laws. A simulation results showed that the nonlinear algorithm has an excellent performance for the specified tracking task and strong robustness.