Abstract：For the common parametric uncertainties and uncertain nonlinearities(hysteresis, nonlinear friction, external disturbances, et al) existing in electro-hydraulic servo systems, a novel method was proposed, which was based on adaptive robust control, and named prescribed performance tracking control with hysteresis compensation. First, taking valve controller single-rod hydraulic cylinder position servo system for instance, a mathematic model consisting of hysteresis nonlinearity was constructed. And then, a prescribed performance function was utilized to characterize the convergence rate, maximum over-shoot, and steady-state errors. At last, an adaptive robust controller was design based on the planned tracking errors to guarantee the excellent steady-state performance and transient performance. Extensive simulations show that the proposed controller can attenuate the hysteresis effects on the tracking accuracy, improve the convergence rate, reduce the over-shoot, and eventually achieve an excellent tracking.
