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...

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Autores principales:	Zhangbao Xu, Yudong Wang, Hao Shen, Qingyun Liu, Jianyong Yao
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Control engineering systems. Automatic machinery (General) TJ212-225
Acceso en línea:	https://doaj.org/article/351f718e828b489cafe7bc77843d1535
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spelling	oai:doaj.org-article:351f718e828b489cafe7bc77843d15352021-11-18T06:47:31ZFunnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance1751-86521751-864410.1049/cth2.12192https://doaj.org/article/351f718e828b489cafe7bc77843d15352021-12-01T00:00:00Zhttps://doi.org/10.1049/cth2.12192https://doaj.org/toc/1751-8644https://doaj.org/toc/1751-8652Abstract 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.Zhangbao XuYudong WangHao ShenQingyun LiuJianyong YaoWileyarticleControl engineering systems. Automatic machinery (General)TJ212-225ENIET Control Theory & Applications, Vol 15, Iss 18, Pp 2271-2285 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Control engineering systems. Automatic machinery (General) TJ212-225
spellingShingle	Control engineering systems. Automatic machinery (General) TJ212-225 Zhangbao Xu Yudong Wang Hao Shen Qingyun Liu Jianyong Yao Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance
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.
format	article
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
title	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_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_sort	funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/351f718e828b489cafe7bc77843d1535
work_keys_str_mv	AT zhangbaoxu funnelfunctionbasedasymptoticoutputfeedbackcontrolofhydraulicsystemswithprescribedperformance AT yudongwang funnelfunctionbasedasymptoticoutputfeedbackcontrolofhydraulicsystemswithprescribedperformance AT haoshen funnelfunctionbasedasymptoticoutputfeedbackcontrolofhydraulicsystemswithprescribedperformance AT qingyunliu funnelfunctionbasedasymptoticoutputfeedbackcontrolofhydraulicsystemswithprescribedperformance AT jianyongyao funnelfunctionbasedasymptoticoutputfeedbackcontrolofhydraulicsystemswithprescribedperformance
_version_	1718424406851584000

Funnel function‐based asymptotic output feedback control of hydraulic systems with prescribed performance

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