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
相关论文
共 50 条
  • [41] Friction compensation of the pendubot based on the LuGre model
    Eom M.W.
    Kim C.-J.
    Chwa D.
    Transactions of the Korean Institute of Electrical Engineers, 2011, 60 (04): : 848 - 855
  • [42] Intelligent Nonlinear Friction Compensation Using Friction Observer and Backstepping Control
    Hank, Seong Ik
    Jeong, Chan Se
    Park, Sung Hee
    Jeong, Young Man
    Lee, Chang Don
    Yang, Soon Yong
    EMERGING INTELLIGENT COMPUTING TECHNOLOGY AND APPLICATIONS, PROCEEDINGS, 2009, 5754 : 826 - +
  • [43] Desired Compensation Adaptive Robust Control of Electrical-optical Gyro-stabilized Platform with Continuous Friction Compensation Using Modified LuGre Model
    Wu, Yuefei
    Yue, Dong
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (05) : 2264 - 2272
  • [44] Desired Compensation Adaptive Robust Control of Electrical-optical Gyro-stabilized Platform with Continuous Friction Compensation Using Modified LuGre Model
    Yuefei Wu
    Dong Yue
    International Journal of Control, Automation and Systems, 2018, 16 : 2264 - 2272
  • [45] Adaptive friction compensation for large diameter electro-hydraulic proportional valve cores based on LuGre
    孔祥东
    Song Yu
    Ai Chao
    Li Yanpeng
    Tian Dezhi
    High Technology Letters, 2015, 21 (04) : 371 - 378
  • [46] Adaptive friction compensation for large diameter electro-hydraulic proportional valve cores based on LuGre
    Kong, Xiangdong
    Song, Yu
    Ai, Chao
    Y., Li
    D., Tian
    High Technology Letters, 2015, 21 (04) : 371 - 378
  • [47] Adaptive Robust Motion Trajectory Tracking Control of Pneumatic Cylinders with LuGre Model-based Friction Compensation
    MENG Deyuan
    TAO Guoliang
    LIU Hao
    ZHU Xiaocong
    Chinese Journal of Mechanical Engineering, 2014, 27 (04) : 802 - 815
  • [48] Friction compensation based on LuGre model with modified viscous friction
    Tan, Wen-Bin
    Li, Xing-Fei
    Xiang, Hong-Biao
    Wu, Teng-Fei
    Zhang, Chen-Yang
    Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2012, 45 (09): : 824 - 828
  • [49] Adaptive Nonlinear Sliding Mode Control of Mechanical Servo System With LuGre Friction Compensation
    Chen, Qiang
    Tao, Liang
    Nan, Yurong
    Ren, Xuemei
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2016, 138 (02):
  • [50] Integrated Direct/Indirect Adaptive Robust Control of Turntable Servo System Based on LuGre Model Friction Compensation
    Hou, Dongyang
    2016 31ST YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2016, : 267 - 271
12345