Tracking control of electro-hydraulic position servo system with uncertainty using dynamic surface method

Based on the dynamic surface control method,an adaptive robust controller is designed for solving the tracking control problem of electro-hydraulic position servo system with dynamic uncertainties.The addition of low pass filters in backstepping design procedure allows the dynamic surface control method to be implemented without differentiating any model nonlinearities,which simplifies the design.The proposed adaptive robust controller guarantees the closed-loop semi-globally asymptotically stable,and output asymptotic tracking expected trajectory.Besides,the final tracking accuracy could be adjusted via certain controller parameters.The simulation results show that the proposed controller has a prescribed output tracking transient performance and robustness for the uncertainties of the system.