Adaptive Tracking Control for Hydraulic Actuators Based on the Fully Actuated System Approaches

This study investigates the problem of adaptive tracking control for hydraulic systems. First, a dynamic model of hydraulic systems is established, accounting for nonlinearities and uncertainties. To address these challenges, an adaptive compensation strategy is proposed. The proposed controller, designed via the fully actuated system approach, eliminates the need for computationally intensive iterative operations. Finally, Lyapunov stability analysis demonstrates that all closed-loop system signals remain uniformly bounded. Simulation results confirm the effectiveness of the proposed control algorithm.