Performance Guaranteed Robust Tracking Control of Electro-Hydraulic Systems with Input Delays and Output Constraints
Abstract
This article addresses the challenge of achieving prescribed performance robust control for electro-hydraulic systems (EHSs) subject to input delays and output constraints. Firstly, a novel shift function that incorporates the information of input delays is introduced to construct a barrier function (BF). By stabilizing this BF, the output of the EHSs is guaranteed to reach the specified bounds within the prescribed time. Furthermore, by introducing the error transformation functions and the auxiliary function, we handle the tracking error constraints of EHSs in the presence of input delays without imposing any restrictions on the initial relationships between error variables and predefined boundaries. Finally, the proposed controller design does not rely on any specific knowledge of EHSs and avoids the use of approximation or adaptive techniques. Based on Lyapunov stability theory and proof by contradiction, we prove that the closed-loop system is stable. Experimental results demonstrate the effectiveness of the proposed approach.
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Robust control tends to rely on increased feedback gains to suppress disturbances, which may excite unmodeled high-frequency dynamics.
“Similarly, robust control tends to rely on increased feedback gains to suppress disturbances, which may excite unmodeled high-frequency dynamics.”
From Predefined-Time Tracking Control of Servo Hydraulic Cylinder Based on Reinforcement Learning (2025) · cites this paper as [9]
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Predefined-Time Tracking Control of Servo Hydraulic Cylinder Based on Reinforcement Learning
Han, T., Nie, X., Que, N., Lu, J., Yao, J., & Yu, X. (2025) · Actuators · doi:10.3390/act15010009 · Cited by 1 · see citing works
- Authors
- Zhou, J., Hua, C., Zhang, B., Li, Y., & Zhang, Y.
- Affiliations
- Yanshan University (CN)
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2025-12
- Volume
- 72
- Issue
- 12
- Pages
- 14469-14477
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W4412353315
- Cited by
- 3
- References
- 32
- Citations by year
- 2026: 2 · 2025: 1
- FWCI
- 0.87
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Industrial Electronics (publishedVersion)
- Funders
- National Natural Science Foundation of China (U24A20271, U22A2050, 62403183)
- Science Fund of Hebei Province (F2023203100, F2020203013, F2024208025)
- Science and Technology Development Grant of Hebei Province (20311803D)
- Hebei Innovation Capability Improvement Plan Project (22567619H)
- S&T Program of Hebei (246Z1804G, 246Z1812G, 2024HBQZYCXY011, 242G1802Z, 2023HBQZYCSB007)
- Innovation Leading Talent Team Project at Higher Education Institutions of Hebei
- Key Research Projects in Fundamental Sciences at Higher Education Institutions of Hebei (241791007A)
- Science Research Project of Hebei Education Department (CYZD202505)
- Basic Operating Funds of Hebei University of Science and Technology (2023XLZ001)
- Guangxi Science and Technology Major Special Project (Guike AA22067064)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- electro-hydraulic systems, robust tracking control, input delay, output constraints, prescribed performance control, barrier function, shift function, error transformation, auxiliary functions, Lyapunov stability, closed-loop stability
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