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Volume 13
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10.3390/math13193081
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Article

Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation

by
Gaoyang Zhao
1,
Xiaowei Yang
1,*,
Wenxiang Deng
1,
Chuanjie Lu
2 and
Jianyong Yao
1
1
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
2
Dezhou Precion Machine Tool Co., Ltd., Dezhou 253000, China
*
Author to whom correspondence should be addressed.
Mathematics 2025, 13(19), 3081; https://doi.org/10.3390/math13193081
Submission received: 26 August 2025 / Revised: 17 September 2025 / Accepted: 17 September 2025 / Published: 25 September 2025
(This article belongs to the Section E2: Control Theory and Mechanics)
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Abstract

Achieving high-precision tracking control in electrohydraulic servo systems remains challenging due to internal uncertainties, external disturbances, and inaccessible state variables. To address these issues, a command-filter-based velocity-free tracking controller is proposed for an electrohydraulic system. A cascaded adaptive extended state observer is designed to simultaneously compensate for both matched and mismatched disturbances and estimate the unmeasurable velocity state. A first-order command filter is incorporated into the traditional backstepping framework to prevent “differential explosion”. Lyapunov analysis proves that the controller guarantees the boundedness of tracking errors, observer estimation errors, and all closed-loop signals. Comparative simulations demonstrate the superior performance of the proposed controller.
Keywords: electrohydraulic system; tracking control; velocity-free control; adaptive extended state observer; command filter electrohydraulic system; tracking control; velocity-free control; adaptive extended state observer; command filter

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MDPI and ACS Style

Zhao, G.; Yang, X.; Deng, W.; Lu, C.; Yao, J. Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation. Mathematics 2025, 13, 3081. https://doi.org/10.3390/math13193081

AMA Style

Zhao G, Yang X, Deng W, Lu C, Yao J. Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation. Mathematics. 2025; 13(19):3081. https://doi.org/10.3390/math13193081

Chicago/Turabian Style

Zhao, Gaoyang, Xiaowei Yang, Wenxiang Deng, Chuanjie Lu, and Jianyong Yao. 2025. "Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation" Mathematics 13, no. 19: 3081. https://doi.org/10.3390/math13193081

APA Style

Zhao, G., Yang, X., Deng, W., Lu, C., & Yao, J. (2025). Command-Filter-Based Velocity-Free Tracking Control of an Electrohydraulic System with Adaptive Disturbance Compensation. Mathematics, 13(19), 3081. https://doi.org/10.3390/math13193081

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