Active Disturbance Rejection Adaptive Control for Hydraulic Lifting Systems with Valve Dead-Zone

In this article, the motion control problem of hydraulic lifting systems subject to parametric uncertainties, unmodeled disturbances, and a valve dead-zone is studied. To surmount problem, an active disturbance rejection adaptive controller was developed for systems. Firstly, dynamics, including both mechanical dynamics actuator with system, were modeled. Then, by adopting system model backstepping technique, composite parameter adaptation law extended state observer successfully combined, which employed dispose uncertainties respectively. This much decreased learning burden observer, high-gain feedback issue could be shunned. An ultimately bounded tracking performance can assured method based on Lyapunov theory. A simulation example carried out demonstrate validity proposed controller.