Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function.

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Bibliographic Details
Title:	Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function.
Authors:	Peng, Mingshuo¹ pengmingshuo@hotmail.com, Chen, Lixun¹ ChenLixun_sdut@163.com, Wei, Qingkun¹ weiqingkun_sdut@163.com, Tan, Cao² njusttancao@yeah.net
Source:	IAENG International Journal of Applied Mathematics. Feb2026, Vol. 56 Issue 2, p649-657. 9p.
Subjects:	Backstepping control method, Lyapunov functions, Nonlinear control theory, Stability of linear systems, Uncertain systems, Dynamic stability, Hydraulic drive, Adaptive control systems
Abstract:	With the advantages of high energy efficiency and high integration, direct-drive electro-hydrostatic actuators (DEHAs) represent an important development direction for hydraulic actuation systems. To address uncertainties in system parameters, this paper proposes a nonlinear adaptive backstepping control (ABC) method based on barrier Lyapunov functions. A state-space model of the DEHA system is established. Barrier Lyapunov functions are incorporated into the backstepping design to enforce output constraints, and constraint boundaries are introduced to guarantee the output performance of the system. An adaptive law for uncertain parameters is developed to compensate parameter disturbances in real time. The stability of the closed-loop system is rigorously analyzed. The effectiveness of the proposed controller is validated on a direct-drive electro-hydrostatic actuator experimental platform. The results show that the proposed ABC method achieves faster response, higher control accuracy, and stronger robustness compared with the traditional PI controller and direct backstepping control (DBC). [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	With the advantages of high energy efficiency and high integration, direct-drive electro-hydrostatic actuators (DEHAs) represent an important development direction for hydraulic actuation systems. To address uncertainties in system parameters, this paper proposes a nonlinear adaptive backstepping control (ABC) method based on barrier Lyapunov functions. A state-space model of the DEHA system is established. Barrier Lyapunov functions are incorporated into the backstepping design to enforce output constraints, and constraint boundaries are introduced to guarantee the output performance of the system. An adaptive law for uncertain parameters is developed to compensate parameter disturbances in real time. The stability of the closed-loop system is rigorously analyzed. The effectiveness of the proposed controller is validated on a direct-drive electro-hydrostatic actuator experimental platform. The results show that the proposed ABC method achieves faster response, higher control accuracy, and stronger robustness compared with the traditional PI controller and direct backstepping control (DBC). [ABSTRACT FROM AUTHOR]
ISSN:	19929978