Tracking differentiator based back-stepping control for valve-controlled hydraulic actuator system

Back-stepping design method is widely used in high-performance tracking control tasks As known to all, the controller based on back-stepping will become complex as model order increases, which so called “explosion of terms” problem. In this paper, a differentiator (TD) proposed handle Instead calculating derivatives intermediate variables through tedious analytical expressions, for method, embedded into each recursive procedure generate substitute derivative signal every variable. result, complexity implementation significantly reduced. The discrepancies between substitutes and real are considered. And effects performances caused by analyzed. addition giving theoretical results stability proofs with Lyapunov methods, developed evaluated series experiments hydraulic robot arm position serve system. performance verified results.