＜正＞An improved Narendra model reference adaptive control （MRAC） scheme is proposed to research one variable displacement pump driving four hydraulic variable displacement motors. This approach not only ensures the underdamped and unstable system be global uniform asymptotic stability, but also has good robustness in these aspects of modeling uncertainty, pressure fluctuation of constant pressure network, and disturbance from external load, which also upgrades the rapidity of system response so as to make controlled system with nicer dynamic quality. The scheme of one pump driving four motors can meet the demand on off-road mobility of engineering vehicles and armored cars. A proof of stability about improved Narendra MRAC scheme is also given.
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