Prescribed performance constraint regulation of electrohydraulic control based on backstepping with dynamic surface

Abstract

In electro-hydraulic system (EHS), uncertain nonlinearities such as some hydraulic parametric uncertainties and external load disturbance often degrade the output dynamic performance. To address this problem, a prescribed performance constraint (PPC) control method is adopted in EHS to restrict the tracking position error of the cylinder position to a prescribed accuracy and guarantee the dynamic and steady position response in a required boundedness under these uncertain nonlinearities. Furthermore, a dynamic surface is designed to avoid the explosion of complexity due to the repeatedly calculated differentiations of the virtual control variables derived in backstepping. The effectiveness of the proposed controller has been verified by a comparative results.