Adaptive NN Control of Electro-Hydraulic System with Full State Constraints

Abstract

This paper presents an adaptive neural network (NN) control approach for an electro-hydraulic system. The friction and internal leakage are nonlinear uncertainties, and the states in the considered electro-hydraulic system are fully constrained. In the control design, the NNs are utilized to approximate the nonlinear uncertainties. Then, by constructing barrier Lyapunov functions and based on the adaptive backstepping control design technique, a novel adaptive NN control scheme is formulated. It has been proven that the developed adaptive NN control scheme can sustain the controlled electro-hydraulic system to be stable and make the system output track the desired reference signal. Furthermore, the system states do not surpass the given bounds. The computer simulation results verify the effectiveness of the proposed controller.