Finite-time backstepping control of electro-hydraulic servo system based on command filter and neural network
NIU Shan-shuai
WANG Jun-zheng
ZHAO Jiang-bo
SHEN Wei
Abstract：To improve the tracking control performance of electro-hydraulic servo systems,considering the lumped uncertainties,including parameter uncertainty,unmodeled dynamics,and unknown disturbances,a finite-time backstepping control method based on command filter and neural network is proposed.A Levant differentiator is used as the command filter to obtain the derivative of the differential signal between the virtual input variable and the virtual control law,which not only avoids the"explosion of complexity"in standard backstepping control,but also estimates unmatched uncertainty through reconstruction;Compared with traditional neural network-based backstepping control that requires multiple neural networks,this method only uses one neural network to approximate the matched uncertainty,avoiding the complexity and fragility of controllers caused by multiple neural networks.By introducing piecewise feedback functions composed of a fractional exponential power function and a polynomial function to accelerate convergence,the system achieves finite time stability while avoiding singularity problems.Finally,an experimental platform is established to conduct comparative experiments,and the effectiveness and superiority of the proposed new method are verified.
Keywords：command filterneural networkfinite-time stabilitybackstepping controlelectro-hydraulic servo system
Publication Date：2026-02-28
Online Publishing Date：2026-04-08(First online date of this platform, not the publication date of the document)
Pages：10( 249-258 )