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<p>Electro-hydraulic systems (EHS) are inherently affected by parameter uncertainties and input delays, which can severely degrade tracking accuracy and system stability. This paper develops a novel adaptive iterative control framework that integrates an extended state model with a lumped disturbance observer to overcome these challenges. The extended state model provides a unified description of delayed dynamics, while the disturbance observer simultaneously estimates uncertainties arising from hydraulic parameters and external loads. These estimates are incorporated into a backstepping-based adaptive iterative controller (AIC), which guarantees that both state and observation errors converge asymptotically within a bounded neighborhood of zero. The overall scheme ensures robust compensation against delays and uncertainties. Furthermore, the effectiveness of the proposed method is verified through comparative simulations and experiments conducted under different input delay conditions, demonstrating notable improvements in robustness and tracking performance.</p>

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Adaptive iterative control for electro-hydraulic system with input delay and lumped disturbance

  • 期刊论文

  • 发表日期：

    2026年4月28日

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  • Xin Chen,
  • Siyu Xie,
  • Zhao Wang,
  • Chen Wang,
  • Qing Guo

摘要

Electro-hydraulic systems (EHS) are inherently affected by parameter uncertainties and input delays, which can severely degrade tracking accuracy and system stability. This paper develops a novel adaptive iterative control framework that integrates an extended state model with a lumped disturbance observer to overcome these challenges. The extended state model provides a unified description of delayed dynamics, while the disturbance observer simultaneously estimates uncertainties arising from hydraulic parameters and external loads. These estimates are incorporated into a backstepping-based adaptive iterative controller (AIC), which guarantees that both state and observation errors converge asymptotically within a bounded neighborhood of zero. The overall scheme ensures robust compensation against delays and uncertainties. Furthermore, the effectiveness of the proposed method is verified through comparative simulations and experiments conducted under different input delay conditions, demonstrating notable improvements in robustness and tracking performance.