| Citation: | PAN C Z，HE G，LI Z J，et al. Adaptive filtered control for uncertain electro-hydraulic servo systems with time-varying output constraints[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：1819-1828 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0497
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To address such problems as output constraints and uncertainties in the position tracking control of electro-hydraulic servo systems, an adaptive filter control method with output constrained was proposed based on the time-varying tangent barrier Lyapunov function. Firstly, a tangent barrier Lyapunov function with a time-varying constrained boundary was derived. By setting the parameters of the time-varying boundary function, the output of the system achieved good transient and steady performance.Secondly, a radial basis function (RBF) neural network and a weight adaptive learning law were designed to approximate the compound disturbance composed of model uncertainties and unknown disturbances online, and the approximate value was used for feedback control.Then, a second-order command filter backstepping method was used to design a state feedback control law and an error compensation mechanism, so as to avoid“computation explosion”in the backstepping design and eliminate the filtering error so that the position tracking accuracy of the system could be improved. Finally, the convergence of all error signals in a closed-loop system was proven by the Lyapunov stability theory. The simulation results show that the steady-state tracking error of the system under the proposed method is about 3.48×10−8 m.Compared with other control methods, the tracking error is always constrained within the time-varying constraint boundary, and control performance and tracking accuracy are both improved.
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