This paper addresses the tracking control of hydraulic actuators commonly used in many hydraulically actuated robotic systems. Dynamic model of the entire actuator incorporating highly nonlinear hydraulic functions and the LuGre dynamic friction model is used to arrive at a suitable controller. The controller is augmented with adaptation laws to compensate for parametric uncertainties in the actuator dynamics, hydraulic functions as well as friction with nonuniform force variations. Furthermore, an adaptive observer is used in the controller to avoid the use of acceleration measurement. Therefore, only measurements of displacement, velocity, and hydraulic line pressures are required for the implementation of the proposed controller. Stability and convergence of the control system are theoretically studied. Experimental results are presented verifying the effectiveness of the developed controller.
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January 2008
Technical Briefs
Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation
Hairong Zeng,
Hairong Zeng
Graduate Research Fellow
Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T-5V6, Canada
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Nariman Sepehri
Nariman Sepehri
Department of Mechanical and Manufacturing Engineering,
e-mail: nariman@cc.umanitoba.ca
The University of Manitoba
, Winnipeg, Manitoba R3T-5V6, Canada
Search for other works by this author on:
Hairong Zeng
Graduate Research Fellow
Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T-5V6, Canada
Nariman Sepehri
Department of Mechanical and Manufacturing Engineering,
The University of Manitoba
, Winnipeg, Manitoba R3T-5V6, Canadae-mail: nariman@cc.umanitoba.ca
J. Dyn. Sys., Meas., Control. Jan 2008, 130(1): 014502 (7 pages)
Published Online: January 14, 2008
Article history
Received:
January 26, 2006
Revised:
June 19, 2007
Published:
January 14, 2008
Citation
Zeng, H., and Sepehri, N. (January 14, 2008). "Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation." ASME. J. Dyn. Sys., Meas., Control. January 2008; 130(1): 014502. https://doi.org/10.1115/1.2807181
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