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Funnel function-based adaptive prescribed performance output feedback control of hydraulic systems with disturbance observers
Abstract
This study structures an adaptive prescribed performance output feedback controller for hydraulic systems with large uncertainties including disturbances and parametric uncertainties. Adaptive control is structured to approximate real system parameters. Based on estimated parameters, a nonlinear disturbance observer for largely mismatched disturbance and an extended state observer for matched disturbance and unmeasurable system states are integrated. Then, to guarantee prescribed tracking performance, an output feedback controller is proposed with uncertainty compensation based on the funnel function using the backstepping method. In addition, to avoid the occurrence of complex analytical calculations and "complexity explosion" in the backstepping method, a differentiator is adopted. Then, the Lyapunov method is utilized to prove the stability of the closed-loop system with estimation errors. Finally, experimental results were obtained to demonstrate that the proposed controller is valid.
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Metadata
- Authors
- Xu, Z., Liu, Q., & Yao, J.
- Affiliations
- Anhui University of Technology (CN)
- Nanjing University of Science and Technology (CN)
- Corresponding author
- Yao, Jianyong
- Venue
- ISA Transactions
- Publisher
- Elsevier BV
- Published
- 2023-05
- Volume
- 136
- Pages
- 701-714
- ISSN
- 0019-0578 (ISSN-L)
- OpenAlex
- W4310016830
- Cited by
- 36
- References
- 49
- Citations by year
- 2026: 8 · 2025: 12 · 2024: 13 · 2023: 3
- FWCI
- 2.82
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- ISA Transactions (publishedVersion)
- PubMed (publishedVersion)
- Funders
- National Natural Science Foundation of China (52075262)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- hydraulic systems, prescribed performance control, output feedback control, adaptive control, disturbance observer, extended state observer, backstepping control, differentiator, parameter uncertainty, disturbance compensation, tracking performance
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