Funnel function-based adaptive prescribed performance output feedback control of hydraulic systems with disturbance
Zhangbao Xu1, Qingyun Liu2, Jianyong Yao3
1School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243002, China; AnHui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Maanshan, 243002, China.
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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