An Adaptive Prescribed Performance Position Tracking Controller for Hydraulic Systems

Junqiang Shi, Xiaowei Yang (), Jinjun Wu and Jingcheng Gao
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Junqiang Shi: Beijing Research Institute of Automation for Machinery Industry Co., Ltd., Beijing 100120, China
Xiaowei Yang: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Jinjun Wu: Machinery Technology Development Co., Ltd., Beijing 100044, China
Jingcheng Gao: Beijing Research Institute of Automation for Machinery Industry Co., Ltd., Beijing 100120, China

Mathematics, 2025, vol. 13, issue 14, 1-17

Abstract: Unknown time-varying parameters, along with mismatched and matched disturbances, exist in hydraulic systems, worsening position tracking performance and even destabilizing systems. To address this issue, this article proposes an adaptive full-state prescribed performance position tracking control for hydraulic systems subject both to unknown time-varying parameters and to mismatched and matched disturbances. First, a smooth nonlinear term is skillfully introduced into the controller design so that it can simultaneously cope with both unknown time-varying parameters and disturbances. Next, by integrating the adaptive technique and the prescribed performance function, an adaptive full-state prescribed performance position tracking controller is developed for hydraulic systems in which both the transient and steady performance of all the control errors can be prescribed. A stability analysis then confirms both the prescribed transient performance and the asymptotic steady performance of all the control errors. Finally, the superiority of the proposed controller is also validated by comparison with simulation results.

Keywords: hydraulic system; position tracking; time-varying parameters and disturbances; prescribed performance; adaptive technique (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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