Multilayer Neuroadaptive Output Feedback Control of Hydraulic Manipulators with Disturbance Compensation
Abstract
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.
Fields of Study & Subjects
Adaptive Control of Nonlinear Systems
Hydraulic and Pneumatic Systems
Dynamics and Control of Mechanical Systems
Publication details
- Journal / source
- Mathematics
- Volume
- 14
- Issue
- 5
- Pages
- 830–830
- Publication date
- 28 February 2026
- Language
- EN