Work

State-Constrained Control for Hydraulic Manipulator Position Servo Systems with Valve Dead-Band Compensation

Year: 2026

Type: article

Abstract: Hydraulic manipulators face critical challenges due to valve dead-band nonlinearity and state constraints, which can lead to safety hazards and hardware damage. This study proposes a state-constrained controller with valve dead-band compensation to ensure prescribed positioning accuracy and operational safety. Barrier Lyapunov functions ensure that state constraints are maintained and that boundary violations are avoided. Concurrently, a smooth dead-band inverse model is developed to offset asymmetric valve dead-band effects without inducing chatter. Adaptive laws estimate uncertain parameters and dead-band impact in real time, and a disturbance observer attenuates unmatched uncertainties. Dynamic surface control is employed to diminish the explosion of complexity in backstepping design. Comparative simulations under fixed-angle and arbitrary-angle tracking demonstrate that the proposed controller achieves superior tracking accuracy with steady-state errors below 0.04° compared to 0.06° for non-compensated controllers, while significantly reducing pressure fluctuations and control chattering as adaptive parameters converge. The results indicate that the strategy effectively compensates for valve dead zones while strictly maintaining state constraints, thereby achieving the required control precision for hydraulic servo systems.

Source: Actuators

DOI: 10.3390/act15040196

Authors: Ning Yang, Cuicui Ji, Junhua Chen, Hongyu Zheng

Institutions: Changzhou Institute of Technology, Hohai University

Language: English

Topic: Hydraulic and Pneumatic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funder: National Natural Science Foundation of China