Adaptive prescribed performance control for hydraulic system with disturbance compensation

Abstract

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.

Finite‐time prescribed performance adaptive fuzzy output feedback control for stochastic nonlinear systems with dead‐zone input

“…The main contributions are provided as follows: The developed control scheme ensures that the tracking error of stochastic nonlinear system converges to the prescribed region in the finite‐time and keeps in the region thereafter. Meanwhile, compared with the results in References 23,24, the transient state performance is further improved. Compared with the related PPC works in References 20,22, the proposed finite‐time PPC design ensures that it can prescribe the desired performance indicators in finite‐time by introducing a FTPF with faster convergence rate. Moreover, the existence of stochastic disturbances make the control design more challenging. The proposed control strategy avoids the conventional inverse dead‐zone compensation, which effectively solves the controller complexity problem caused by estimating online of over parameterization.…”

“…Remark PPC strategies in References 23,24 are proposed to achieve the expected performance indicators, which guarantees the overshoot and steady‐state accuracy but ignores the demand of convergence time. By contrast, the control algorithm presented in this paper not only ensures the specific constraint boundary, but also guarantees the finite‐time convergence of tracking error.…”

Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator

“…To constrain the transient and steady-state performances of the system error e(t), define e(t) satisfies strictly the following inequality [45,46]:…”

Acceleration Harmonic Estimation and Suppression for Hydraulic Load Simulator Based on Artificial Bee Colony with Chaotic Search Strategy

“…Compared with field testing, load simulator testing under laboratory conditions is an indispensable part of product development and final mass production, and possesses the advantages of repeatability, low cost and safety [2]. As vibration environment simulation equipment, the load simulator can simulate sinusoidal, random, typical shock signal and self-set time domain waveform, such as the real load borne by the aircraft in the air [3], the structural stability of the car in the process of driving [4], and the seismic performance of large buildings under the excitation of seismic waves [5].…”