Adaptive robust control for electrical cylinder with friction compensation using modified LuGre model |
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Authors: | HAO Ren-jian WANG Jun-zheng ZHAO Jiang-bo and WANG Shou-kun |
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Affiliation: | Key Laboratory of Intelligent Control and Decision of Complex System, School of Automation, Beijing Institute of Technology, Beijing 100081, China;Key Laboratory of Intelligent Control and Decision of Complex System, School of Automation, Beijing Institute of Technology, Beijing 100081, China;Key Laboratory of Intelligent Control and Decision of Complex System, School of Automation, Beijing Institute of Technology, Beijing 100081, China;Key Laboratory of Intelligent Control and Decision of Complex System, School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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Abstract: | The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decoupling approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition between a static model at a high speed and a LuGre model at a low speed to avoid instability due to discretization with a finite sampling rate. To accelerate the speed of estimating time-varying parameters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lyapunov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point-point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy. |
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Keywords: | adaptive robust electrical cylinder friction compensation LuGre model |
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