Asymptotic secure tracking control of electro-hydraulic servo systems with disturbance rejection

In this paper, a novel asymptotic secure tracking controller for electro-hydraulic servo systems will be proposed. By designing a set of asymptotic uncertainty observers, the system uncertainties can be asymptotically estimated and thus compensated. Furthermore, by introducing a tracking error based barrier function, the output position can always be restricted in the preset time-varying asymmetric constraints. Moreover, the ''explosion of complexity'' can be avoided by introducing a set of asymptotic filters. Significantly, the asymptotic tracking performance can be obtained. Additionally, the theoretical results will be proved by experimentations.