Open AccessFunnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance
Author(s) -
Xu Zhangbao,
Wang Yudong,
Shen Hao,
Liu Qingyun,
Yao Jianyong
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12192
Subject(s) - control theory (sociology) , backstepping , funnel , controller (irrigation) , lyapunov function , adaptive control , nonlinear system , hydraulic machinery , control engineering , computer science , mathematics , engineering , control (management) , artificial intelligence , mechanical engineering , agronomy , physics , quantum mechanics , biology
Abstract An asymptotic output feedback controller for the hydraulic systems with model uncertainty compensation and prescribed performance is proposed here, where state observers, funnel function and nonlinear adaptive controller are integrated via backstepping technology. Only position signal is available in the process of controller design, the velocity and load pressure are estimated by observers. And, the adaptive control law is carried out to approximate disturbance. Then, a funnel function is introduced to guarantee the prescribed tracking error performance and the potential singularity problem in prescribed performance control is avoided. Furthermore, the whole closed system is proved to be asymptotically stable using Lyapunov method. Comparative experimental results performed on hydraulic systems are studied to illustrate the effectiveness of the proposed controller.