Position tracking control of electro-hydrostatic actuators via adaptive finite-time backstepping and state observation

Abstract

Abstract In this paper, the adaptive finite-time backstepping control approach is proposed for electro-hydrostatic actuator with symmetrical cylinder (EHSC) under the unmeasured states and disturbances. The state observer (SOB) is constructed to estimate the unmeasured states. To address the unknown dynamic system during design control procedure, the adaptive law based on the maximum norm of the radial basis function neural network (NN) is introduced for EHSC. In addition, the adaptive finite-time backstepping control scheme using SOB is synthesized to enrich the tracking performance of the EHSC. It is exhibited by theoretical Lyapunov analysis and backstepping approach that the finite-time stability is guaranteed under unmeasured states and disturbances. Ultimately, both simulation and experiment results are conducted to further confirm the workability of the suggested control algorithm.