Önder, MithatBayrak, AlperAksoy, Serkan2023-07-212023-07-212022Onder, M., Bayrak, A., & Aksoy, S. (2022). RISE-based backstepping control design for an electro-hydraulic arm system with parametric uncertainties. International Journal of Control, 95(10), 2815-2827.0020-71791366-5820http://dx.doi.org/10.1080/00207179.2021.1939164https://hdl.handle.net/20.500.12491/11328In 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.eninfo:eu-repo/semantics/closedAccessElectro-Hydraulic Arm SystemRISE ControlBackstepping ControlAdaptive Robust-ControlTracking ControlNonlinear ControlArticle10.1080/00207179.2021.19391649510281528272-s2.0-85108214109Q2WOS:000662773300001Q3