In this paper, a command filter-based adaptive prescribed-time control method is proposed for hydraulic servo systems subject to time-varying parameters, external disturbances and output constraints. Firstly, a state-based nonlinear transformation function is introduced to convert the output-constrained problem into a boundedness problem. Then, an auxiliary system is constructed to compensate for command filtering errors. Subsequently, to handle the uncertainties from time-varying parameters and external disturbances, a smooth nonlinear term featuring an updated gain and incorporating a prescribed-time function is designed. Based on the transformed system, a novel control framework integrating command filtering, adaptive control, and the prescribed-time function is developed. Consequently, the complexity explosion is avoided, and the system output is guaranteed to converge to a small bounded interval near zero while strictly satisfying the output constraints. Moreover, this prescribed convergence time can be independently set by the designer. Furthermore, both the transient convergence performance within the prescribed time and the bounded convergence performance afterward are guaranteed by Lyapunov stability analysis. Finally, the effectiveness of the proposed method is verified by simulation results.
Li et al. (Tue,) studied this question.
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