RISE-based backstepping control design for an electro-hydraulic arm system with parametric uncertainties

Onder M., Bayrak A., Aksoy S.

International Journal of Control, vol.95, no.10, pp.2815-2827, 2022 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 95 Issue: 10
  • Publication Date: 2022
  • Doi Number: 10.1080/00207179.2021.1939164
  • Journal Name: International Journal of Control
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, zbMATH
  • Page Numbers: pp.2815-2827
  • Keywords: Electro-hydraulic arm system, RISE control, backstepping control, ADAPTIVE ROBUST-CONTROL, TRACKING CONTROL, NONLINEAR CONTROL
  • Kocaeli University Affiliated: No

Abstract

© 2021 Informa UK Limited, trading as Taylor & Francis Group.In this paper, a self-tuning Robust Integral of Sign of Error (RISE)-based backstepping controller is designed for an electro-hydraulic arm system with a fourth-order system model. The RISE controller, which constitutes the robust part of the control rule, is fused with a backstepping control strategy to cope with model-based and parametric uncertainties. Different from a classical RISE control rule, a (Formula presented.) function is used instead of a (Formula presented.) function to obtain a more smooth control signal. All the gains in the RISE controller are tuned by using continuous update rules. The efficiency of the controller is demonstrated by conducting numerical simulations.