Exponential Asymptotic Prescribed Performance Control of Electro-Hydrostatic Actuators

We aim to achieve exceptional control performance for electro-hydrostatic actuators (EHAs) from both theoretical and practical perspectives. To this end, we propose a controller that accurately identifies unknown nonlinear disturbances and ensures global exponential asymptotic tracking, all while maintaining prescribed performance within adjustable fixed-time. The proposed controller’s effectiveness was validated by comparative simulations and experiments. To our knowledge, this controller represents the most advanced theoretical development currently applied to EHAs and, more broadly, hydraulic systems, offering valuable insights for controller design in other industrial systems.