Abstract：A backstepping control based on barrier Lyapunov function is proposed in this paper.The mathematic model of the aircraft permanent magnet synchronous motor (PMSM) servo actuator system is firstly established.To compensate the load disturbances and parameter variations and to eliminate the steady state error caused by the unmodeled dynamics,an integral term is introduced into the backstepping control law.A strict Lyapunov-based proof ensures that the closed loop system is globally asymptotic stable,the variables of the closed loop system are uniformly bounded,and the tracking error always remains within the constraints of the interval.The simulation results and experiment results show that,compared with the classical backstepping control schemes,the proposed control scheme has an advantage in the strict output tracking error constraint.When there are disturbance and model uncertainty,the steady state error can be significantly reduced and the dynamic performance can be improved with the help of the integral term.
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