2021/06/07 by Mithat Onder, Mithat Önder, Alper Bayrak +1 · 23 citations
Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Adaptive control #Artificial intelligence #Backstepping #Computer science #Control (management) #Control engineering #Control system #Control theory (sociology) #Controller (irrigation) #Engineering #Fault Detection and Control Systems #Function (biology) #Hydraulic and Pneumatic Systems #Mathematics #Parametric statistics #Robust control #Sign (mathematics) #Sign function
paper · doi:10.1080/00207179.2021.1939164
published in International Journal of Control 95(10), 2815-2827 (Taylor & Francis)
openalex publication_date 2021/06/07 · openalex created_date 2025/10/10 · openalex updated_date 2025/11/06
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.