Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance
Abstract An asymptotic output feedback controller for the hydraulic systems with model uncertainty compensation and prescribed performance is proposed here, where state observers, funnel function and nonlinear adaptive controller are integrated via backstepping technology. Only position signal is av...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-12-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12192 |
| _version_ | 1811183590629703680 |
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| author | Zhangbao Xu Yudong Wang Hao Shen Qingyun Liu Jianyong Yao |
| author_facet | Zhangbao Xu Yudong Wang Hao Shen Qingyun Liu Jianyong Yao |
| author_sort | Zhangbao Xu |
| collection | DOAJ |
| description | Abstract An asymptotic output feedback controller for the hydraulic systems with model uncertainty compensation and prescribed performance is proposed here, where state observers, funnel function and nonlinear adaptive controller are integrated via backstepping technology. Only position signal is available in the process of controller design, the velocity and load pressure are estimated by observers. And, the adaptive control law is carried out to approximate disturbance. Then, a funnel function is introduced to guarantee the prescribed tracking error performance and the potential singularity problem in prescribed performance control is avoided. Furthermore, the whole closed system is proved to be asymptotically stable using Lyapunov method. Comparative experimental results performed on hydraulic systems are studied to illustrate the effectiveness of the proposed controller. |
| first_indexed | 2024-04-11T09:49:27Z |
| format | Article |
| id | doaj.art-351f718e828b489cafe7bc77843d1535 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-11T09:49:27Z |
| publishDate | 2021-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-351f718e828b489cafe7bc77843d15352022-12-22T04:30:51ZengWileyIET Control Theory & Applications1751-86441751-86522021-12-0115182271228510.1049/cth2.12192Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performanceZhangbao Xu0Yudong Wang1Hao Shen2Qingyun Liu3Jianyong Yao4School of Mechanical Engineering Anhui University of Technology Maanshan ChinaSchool of Metallurgy Engineering Anhui University of Technology Maanshan ChinaSchool of Electrical and Information Engineering Anhui University of Technology Maanshan ChinaSchool of Mechanical Engineering Anhui University of Technology Maanshan ChinaSchool of Mechanical Engineering Nanjing University of Science and Technology Nanjing ChinaAbstract An asymptotic output feedback controller for the hydraulic systems with model uncertainty compensation and prescribed performance is proposed here, where state observers, funnel function and nonlinear adaptive controller are integrated via backstepping technology. Only position signal is available in the process of controller design, the velocity and load pressure are estimated by observers. And, the adaptive control law is carried out to approximate disturbance. Then, a funnel function is introduced to guarantee the prescribed tracking error performance and the potential singularity problem in prescribed performance control is avoided. Furthermore, the whole closed system is proved to be asymptotically stable using Lyapunov method. Comparative experimental results performed on hydraulic systems are studied to illustrate the effectiveness of the proposed controller.https://doi.org/10.1049/cth2.12192Spatial variables controlControl system analysis and synthesis methodsStability in control theorySelf-adjusting control systemsNonlinear control systems |
| spellingShingle | Zhangbao Xu Yudong Wang Hao Shen Qingyun Liu Jianyong Yao Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance IET Control Theory & Applications Spatial variables control Control system analysis and synthesis methods Stability in control theory Self-adjusting control systems Nonlinear control systems |
| title | Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance |
| title_full | Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance |
| title_fullStr | Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance |
| title_full_unstemmed | Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance |
| title_short | Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance |
| title_sort | funnel function based asymptotic output feedback control of hydraulic systems with prescribed performance |
| topic | Spatial variables control Control system analysis and synthesis methods Stability in control theory Self-adjusting control systems Nonlinear control systems |
| url | https://doi.org/10.1049/cth2.12192 |
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