Jianyong Yao

Hierarchical Control of Hydraulic Manipulators via Identifier–Critic Scheme and Robust Control

High-precision motion control of multidegree-of-freedom (multi-DOF) hydraulic manipulators remains a significant challenge due to their highly coupled mechanical dynamics and strong nonlinearities. To address these difficulties, this article proposes a hierarchical control framework to effectively deal with the rigid-b...

Prescribed‐Time Tracking Control of Nonlinear Strict Feedback Systems With Time‐Varying Parameters and Disturbances Under Full‐State Constraints

Adaptive Prescribed-Time Tracking Control for Output-Constrained Hydraulic Servo Systems with Time-Varying Parameters

This paper proposes an adaptive prescribed-time tracking control strategy based on the dynamic surface technique for hydraulic servo systems subject to time-varying parameters, external disturbances, and output constraints. First, a state-constrained transformation function is introduced to convert the strict output co...