Barrier Lyapunov Based Adaptive Control for Hydraulic Servo Systems with Parametrical Nonlinearities and Modeling Uncertainties

Abstract

Load variations, friction, and external disturbance degrade the control performance of hydraulic servo systems. To attain the high precision trajectory tracking performance for the hydraulic servo systems, a barrier Lyapunov based adaptive controller (BLBAC) is proposed in this paper. For the controller, the adaptive law is developed in each step of backstepping design such that the tracking error can converge to a prescribed accuracy. The state-constrained control of hydraulic servo systems is another issue worthy of attention. Hence, a novel time-varying asymmetric barrier Lyapunov function (TABLF) are adopted to guarantee that the states are not to violate their constraints. The closed-loop signals stability is proved by Lyapunov theory. Comparative simulation results verify the effectiveness of the proposed controller in comparison with the other two controllers for hydraulic servo systems.