Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function.
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| Title: | Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function. |
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| 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] |
| Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 191342802 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Peng%2C+Mingshuo%22">Peng, Mingshuo</searchLink><relatesTo>1</relatesTo><i> pengmingshuo@hotmail.com</i><br /><searchLink fieldCode="AR" term="%22Chen%2C+Lixun%22">Chen, Lixun</searchLink><relatesTo>1</relatesTo><i> ChenLixun_sdut@163.com</i><br /><searchLink fieldCode="AR" term="%22Wei%2C+Qingkun%22">Wei, Qingkun</searchLink><relatesTo>1</relatesTo><i> weiqingkun_sdut@163.com</i><br /><searchLink fieldCode="AR" term="%22Tan%2C+Cao%22">Tan, Cao</searchLink><relatesTo>2</relatesTo><i> njusttancao@yeah.net</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22IAENG+International+Journal+of+Applied+Mathematics%22">IAENG International Journal of Applied Mathematics</searchLink>. Feb2026, Vol. 56 Issue 2, p649-657. 9p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+functions%22">Lyapunov functions</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+control+theory%22">Nonlinear control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Stability+of+linear+systems%22">Stability of linear systems</searchLink><br /><searchLink fieldCode="DE" term="%22Uncertain+systems%22">Uncertain systems</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamic+stability%22">Dynamic stability</searchLink><br /><searchLink fieldCode="DE" term="%22Hydraulic+drive%22">Hydraulic drive</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of IAENG International Journal of Applied Mathematics is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 9 StartPage: 649 Subjects: – SubjectFull: Backstepping control method Type: general – SubjectFull: Lyapunov functions Type: general – SubjectFull: Nonlinear control theory Type: general – SubjectFull: Stability of linear systems Type: general – SubjectFull: Uncertain systems Type: general – SubjectFull: Dynamic stability Type: general – SubjectFull: Hydraulic drive Type: general – SubjectFull: Adaptive control systems Type: general Titles: – TitleFull: Adaptive Backstepping Position Control of Direct-Drive Electro-Hydrostatic Actuator Based on Barrier Lyapunov Function. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Peng, Mingshuo – PersonEntity: Name: NameFull: Chen, Lixun – PersonEntity: Name: NameFull: Wei, Qingkun – PersonEntity: Name: NameFull: Tan, Cao IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 02 Text: Feb2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 19929978 Numbering: – Type: volume Value: 56 – Type: issue Value: 2 Titles: – TitleFull: IAENG International Journal of Applied Mathematics Type: main |
| ResultId | 1 |
