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Adaptive prescribed performance control for hydraulic system with disturbance compensation
Author(s) -
Xu Zhangbao,
Liu Qingyun,
Yao Jianyong
Publication year - 2021
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3262
Subject(s) - control theory (sociology) , backstepping , controller (irrigation) , tracking error , parametric statistics , lyapunov function , computer science , stability (learning theory) , adaptive control , compensation (psychology) , a priori and a posteriori , convergence (economics) , boundary (topology) , control engineering , engineering , control (management) , nonlinear system , mathematics , artificial intelligence , psychoanalysis , psychology , philosophy , economic growth , mathematical analysis , biology , epistemology , quantum mechanics , machine learning , agronomy , statistics , physics , economics
Summary In this article, an adaptive prescribed performance controller is developed for hydraulic system with uncertainties. An extraordinary feature is that better prescribed performance control can be achieved by compensating the uncertainties including parameter uncertainties and disturbances. For this reason, the transformation of system output error is realized by a prescribed performance function, which is employed to constrain the boundary of tracking error and convergence rate, then the tracking error of the original system with a priori prescribed performance can be realized by stabilizing the transformed system. Adaptive control is employed to solve the system parametric uncertainties; extended state observers are built to estimate the multiple disturbances. Based on the backstepping method, they are integrated into the design of the novel controller to guarantee prescribed tracking error performance. The stability analysis of the proposed controller is carried out via the Lyapunov theory. Finally, experimental results indicate good performance of the proposed algorithm.