Adaptive Output Constraint Control of Electro-Hydraulic Servo System Based on Extended Sliding Mode Observer

To address the output state constraint issue of electro - hydraulic servo systems, an adaptive output constraint control strategy based on an extended sliding mode observer (AOCESMO) has been put forward. To further cope with unmeasurable signals and external disturbances, an extended sliding mode observer (ESMO) is established by integrating the design of adaptive nonlinear feedback tracking control, thereby improving its transient performance. For electro-hydraulic servo systems with output limits, a barrier Lyapunov function (BLF) is developed, ensuring that the tracking error remains within the predetermined range. In controller design, this paper estimates and compensates for the derivative term of the adaptive law in real time, and proves the bounded tracking performance of the system through theoretical analysis, in order to keep the system's tracking inaccuracy within a predetermined range. The efficacy of the suggested high-performance control method is confirmed by a number of comparison simulation findings.