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Öğe Lyapunov Based Observer Design for Electro-Hydraulic Arm System(2022) Önder, Mithat; Bayrak, Alper; Aksoy, SerkanIn this paper, a Lyapunov based observer design is proposed to observe the load pressure of electro-hydraulic arm systems. The stability of the observer is investigated by using the Lyapunov based method. In the stability analysis, it is proven that the observer error converge to the vicinity of origin which can be adjusted to be arbitrarily small. The classical PID controller is used to control the position of the electro-hydraulic arm system and keep the system states bounded. The performance of the designed observer is evaluated by computational simulations which are conducted in MATLAB Simulink program. The performance of the observer is tested in two cases: i) noise free case and ii) noise case. In the noisy case, the state ??2 is exposed to the 30 dB additive white Gaussian noise. The computational simulation results are given to demonstrate that the proposed observer work efficiently in both noise free and noisy cases.Öğe RISE-based backstepping control design for an electro-hydraulic arm system withparametric uncertainties(TAYLOR & FRANCIS LTD, 2022) Önder, Mithat; Bayrak, Alper; Aksoy, SerkanIn 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.
