6533b837fe1ef96bd12a2fcd

RESEARCH PRODUCT

Cascade Controller Including Backstepping for Hydraulic-Mechanical Systems

Martin ChouxMogens BlankeGeir Hovland

subject

Mechanical systemEngineeringHydraulic cylinderNonlinear systemAdaptive controlbusiness.industryControl theoryCascadeBacksteppingControl engineeringDynamical frictionGeneral Medicinebusiness

description

Abstract Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is significantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation.

yearjournalcountryeditionlanguage
2012-01-01IFAC Proceedings Volumes
https://doi.org/10.3182/20120531-2-no-4020.00046