Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation

Gaoyang Zhao, Xiaowei Yang (), Wenxiang Deng, Chuanjie Lu and Jianyong Yao
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Gaoyang Zhao: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Xiaowei Yang: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Wenxiang Deng: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Chuanjie Lu: Dezhou Precion Machine Tool Co., Ltd., Dezhou 253000, China
Jianyong Yao: School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Mathematics, 2025, vol. 13, issue 19, 1-21

Abstract: Achieving high-precision tracking control in electrohydraulic servo systems remains challenging due to internal uncertainties, external disturbances, and inaccessible state variables. To address these issues, a command-filter-based velocity-free tracking controller is proposed for an electrohydraulic system. A cascaded adaptive extended state observer is designed to simultaneously compensate for both matched and mismatched disturbances and estimate the unmeasurable velocity state. A first-order command filter is incorporated into the traditional backstepping framework to prevent “differential explosion”. Lyapunov analysis proves that the controller guarantees the boundedness of tracking errors, observer estimation errors, and all closed-loop signals. Comparative simulations demonstrate the superior performance of the proposed controller.

Keywords: electrohydraulic system; tracking control; velocity-free control; adaptive extended state observer; command filter (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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