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Updated: Oct 4, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Input constraint control for hydraulic systems with asymptotic tracking.

Ziying Lin1, Jianyong Yao1, Wenxiang Deng1

  • 1School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.

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|February 7, 2022
PubMed
Summary

This study introduces a novel asymptotic tracking controller for electrohydraulic servomechanisms. The controller effectively manages input constraints and uncertainties, ensuring high-precision performance in hydraulic systems.

Keywords:
Adaptive controlAsymptotic trackingExtended state observerHydraulic systems

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Area of Science:

  • Control Engineering
  • Robotics
  • Mechanical Systems

Background:

  • Hydraulic servo systems present complex control challenges due to nonlinearity and uncertainties.
  • Designing controllers for these systems, especially with input constraints, is difficult.

Purpose of the Study:

  • To propose an asymptotic tracking controller for electrohydraulic servomechanisms.
  • To address input constraints, parametric uncertainties, and unmodeled disturbances.

Main Methods:

  • Decoupling control input from input nonlinearity.
  • Utilizing an extended state observer (ESO) for disturbance estimation.
  • Employing adaptive feedforward compensation and robust integral of the sign of the error (RISE) feedback.
  • Integrating a hyperbolic tangent function to manage input constraints.

Main Results:

  • The controller achieves semi-global asymptotic tracking performance.
  • Demonstrated high-precision tracking in simulations and experiments.
  • Successfully satisfied preset control input ranges under constraints and uncertainties.

Conclusions:

  • The developed control strategy offers robust and precise control for hydraulic servo systems.
  • The approach effectively handles nonlinearities, uncertainties, and input limitations.
  • Validated effectiveness through theoretical analysis, simulations, and experimental tests.