RISE-based backstepping control design for an electro-hydraulic arm system with parametric uncertainties
Mithat Önder, Alper Bayrak, Serkan Aksoy
Abstract
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 tanh(⋅) function is used instead of a sgn(⋅) 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.
Topics & Concepts
BacksteppingControl theory (sociology)Parametric statisticsController (irrigation)Control engineeringFunction (biology)EngineeringControl systemSign functionRobust controlSign (mathematics)Computer scienceControl (management)MathematicsAdaptive controlArtificial intelligenceStatisticsElectrical engineeringBiologyAgronomyEvolutionary biologyMathematical analysisHydraulic and Pneumatic SystemsFault Detection and Control SystemsAdaptive Control of Nonlinear Systems