A Novel Trajectory Adjustment Mechanism-Based Prescribed Performance Tracking Control for Electro-Hydraulic Systems Subject to Disturbances and Modeling Uncertainties

This paper proposes a novel active disturbance compensation framework for exactly positioning control of electro-hydraulic systems (EHSs) subject to parameter deviations, unknown dynamics, and uncertain external load without velocity measurement mechanism. In order accurately estimate then actively compensate the effects these uncertainties disturbances on system combination between an extended sliding mode observer (ESMO) linear state (LESO) is firstly established position EHSs. addition, inherited nonlinear filter-based trajectory planner with minor modifications utilized overcome barriers inappropriate desired trajectories which do not consider kinematic dynamic constraints. Furthermore, first time, command filtered (CF) approach prescribed performance (PPC) are successfully coordinated together dexterously integrated into backstepping only mitigate computational cost significantly avoid “explosion complexity” traditional design but also satisfy predetermined transient tracking indexes including convergence rate, overshoot, steady-state error. The stabilities observers overall closed-loop rigorously proven by using Lyapunov theory. Finally, comparative numerical simulations conducted demonstrate advantages proposed approach.