| Journal: | Journal of the Brazilian Society of Mechanical Sciences and Engineering |
| Database: | PERIÓDICA |
| System number: | 000312351 |
| ISSN: | 1678-5878 |
| Authors: | Guenther, Raul1 Perondi, Eduardo A2 DePieri, Edson R3 Valdiero, Antonio C4 |
| Institutions: | 1Universidade Federal de Santa Catarina, Departamento de Engenharia Mecanica, Florianopolis, Santa Catarina. Brasil 2Universidade Federal do Rio Grande do Sul, Rio Grande, Rio Grande do Sul. Brasil 3Universidade Federal de Santa Catarina, Departamento de Automacao e Sistemas, Florianopolis, Santa Catarina. Brasil 4Universidade de Ijui, Ijui, Rio Grande do Sul. Brasil |
| Year: | 2006 |
| Season: | Ene-Mar |
| Volumen: | 28 |
| Number: | 1 |
| Pages: | 48-57 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental |
| English abstract | 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 |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería de control, Ingeniería mecánica, Robótica, Compensación de fricción, Servoneumáticos |
| Keyword: | Engineering, Control engineering, Mechanical engineering, Servopneumatics, Robotics, Friction compensation |
| Full text: | Texto completo (Ver PDF) |
