Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model

被引：0
|
作者：
Zeng, Hairong [1 ]
Sepehri, Nariman [1 ]
机构：
[1] Univ Manitoba, Dept Mech & Mfg Engn, Winnipeg, MB R3T 5V6, Canada
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the backstepping control of hydraulic manipulators with friction compensation. A third-order nonlinear dynamic model is used for the controller design while LuGre dynamic friction model with non-uniform friction force variations characterizes the friction forces. The controller is augmented with adaptation laws to compensate for parametric uncertainties in the system dynamics. Acceleration feedback is avoided by using an adaptive observer. Asymptotic stability of the whole control system is proven via Lyapunov analysis. Simulation and experimental results are presented verifying the effectiveness of the developed controller.
引用
收藏
页码：3164 / 3169
页数：6
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