Multilayer Neuroadaptive Prescribed Tracking Performance Control of Electro‐Hydraulic Servo Systems With Disturbance Compensation

ABSTRACT For electro‐hydraulic servo systems, designing high‐performance controllers is always challenging due to modeling uncertainties, nonlinearities, and so on. This paper proposes a disturbance compensation based multilayer neuroadaptive prescribed tracking performance controller for electro‐hydraulic servo systems. Specifically, a prescribed‐time performance function is incorporated, which guarantees that the tracking error is confined within prescribed bounds within a prescribed settling time. A set of multilayer neuroadaptive disturbance observers is employed to simultaneously estimate endogenous uncertainties and external disturbances. Moreover, the feedforward compensation technique is applied to address these uncertainties, thereby enhancing the control performance of the system. Furthermore, the dynamic surface control technique is adopted to avoid the “explosion of complexity”. The effectiveness of the proposed controller is validated through both simulations and experiments.