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

Onder M., Bayrak A., Aksoy S.

International Journal of Control, cilt.95, sa.10, ss.2815-2827, 2022 (SCI-Expanded, Scopus) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 95 Sayı: 10
  • Basım Tarihi: 2022
  • Doi Numarası: 10.1080/00207179.2021.1939164
  • Dergi Adı: International Journal of Control
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, zbMATH
  • Sayfa Sayıları: ss.2815-2827
  • Anahtar Kelimeler: Electro-hydraulic arm system, RISE control, backstepping control, ADAPTIVE ROBUST-CONTROL, TRACKING CONTROL, NONLINEAR CONTROL
  • Kocaeli Üniversitesi Adresli: Hayır

Özet

© 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.