Cascade controlled pneumatic positioning system with LuGre model based friction compensation

This paper proposes a cascade controller with friction compensation based on the LuGre model. This control is applied to a pneumatic positioning system. The cascade methodology consists of dividing the pneumatic positioning system model into two subsystems: a mechanical subsystem and a pneumatic sub...

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Bibliographic Details
Published in:Journal of the Brazilian Society of Mechanical Sciences and Engineering 2006-03, Vol.28 (1), p.48-57
Main Authors: Guenther, Raul, Perondi, Eduardo A., DePieri, Edson R., Valdiero, Antônio C.
Format: Article
Language:English
Subjects:
ENGINEERING, MECHANICAL
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Summary:This paper proposes a cascade controller with friction compensation based on the LuGre model. This control is applied to a pneumatic positioning system. The cascade methodology consists of dividing the pneumatic positioning system model into two subsystems: a mechanical subsystem and a pneumatic subsystem. This division allows the introduction of friction compensation at force level in the pneumatic positioning system. Using Lyapunov's direct method, the convergence of the tracking errors is shown under the assumption that the system parameters are known. Experimental results illustrate the main characteristics of the proposed controller.
ISSN:1678-5878
1806-3691
1678-5878
DOI:10.1590/S1678-58782006000100006