Finite‐Time Disturbance Observer‐Based Nonlinear Robust Adaptive Control of Hydraulic Manipulator With Parameter Identification

Tianyu Gao; Xianglong Liang; Wenxiang Deng; Jianyong Yao

doi:10.1002/msd2.70060

journal article Open Access Mar 05, 2026

Finite‐Time Disturbance Observer‐Based Nonlinear Robust Adaptive Control of Hydraulic Manipulator With Parameter Identification

Tianyu Gao

Xianglong Liang

Wenxiang Deng

Jianyong Yao

International Journal of Mechanical System Dynamics · Wiley

View at Publisher Save 10.1002/msd2.70060

Abstract

ABSTRACT
Hydraulic manipulators exhibit strong coupling, pronounced nonlinearities, and significant modeling uncertainties, which hinder high‐precision motion control. This paper proposes a finite‐time disturbance observer–based nonlinear robust adaptive control (RAC‐FTDO) framework enhanced by a physically consistent dynamic parameter identification scheme. The entire system dynamics, including the hydraulic dynamics, is first derived. A weighted least squares approach is employed to obtain inertial and friction parameters under physical constraints, enabling reliable feedforward compensation. Building on back‐stepping principles, an adaptive controller systematically integrates an FTDO and a nonlinear robust strategy, enabling rapid and accurate estimation and compensation of both parametric uncertainties and unmodeled disturbances, while suppressing residual estimation errors and avoiding high‐gain feedback. Through Lyapunov stability analysis, the proposed controller achieves improved transient behavior and asymptotic tracking performance. The proposed approach can be extended to multi‐degree‐of‐freedom serial systems and has been experimentally validated on a hydraulic manipulator against several benchmark controllers, demonstrating its effectiveness.

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Published: Mar 05, 2026
License: View

Authors

T

Tianyu Gao

School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China

X

Xianglong Liang

School of Mechatronics Engineering Nanjing Forestry University Nanjing China

W

Wenxiang Deng

School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China

J

Jianyong Yao

School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China

Cite This Article

Tianyu Gao, Xianglong Liang, Wenxiang Deng, et al. (2026). Finite‐Time Disturbance Observer‐Based Nonlinear Robust Adaptive Control of Hydraulic Manipulator With Parameter Identification. International Journal of Mechanical System Dynamics. https://doi.org/10.1002/msd2.70060

Finite‐Time Disturbance Observer‐Based Nonlinear Robust Adaptive Control of Hydraulic Manipulator With Parameter Identification

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