Multilayer Neuroadaptive Output Feedback Control of Hydraulic Manipulators with Disturbance Compensation

In this study, a novel multilayer neuroadaptive output feedback controller is proposed for n-degree-of-freedom (n-DOF) serial hydraulic manipulators. This approach utilizes measurable position signals only while introducing a multilayer neuroadaptive observer to estimate modeling uncertainties and unknown states simultaneously. Notably, this controller can compensate for both endogenous uncertainties and exogenous disturbances simultaneously. Simulation results validate the feasibility and effectiveness of the developed controller, confirming its practical potential for hydraulic manipulator applications.