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

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(center dot) function is used instead of a sgn(center dot) 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.

Automated summary

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 in this paper. The RISE controller, fused with a backstepping control strategy, is used to handle model-based and parametric uncertainties by using a tanh(center dot) function for a smoother control signal. All gains in the RISE controller are tuned through continuous update rules, and the efficiency of the controller is demonstrated through numerical simulations.