Trajectory tracking control of the hydraulic servo system subject to random impulsive disturbances

This paper focuses on analyzing the dynamic model and the stability of the hydraulic servo system, where the random impulsive disturbances are fully considered. To address these issues and achieve the tracking control of the hydraulic support pushing system subject to random impulsive disturbances, we present the mathematical model of the hydraulic support pushing system and define the error variables to complete the design of the controller. Based on the Lyapunov backstepping method, the designed controller can guarantee the error variables converge to zero exponentially and defend random impulsive disturbances effectively, which enhances the robustness of the hydraulic support pushing system. Finally, the validity of the proposed control method is verified by two simulation examples.