Cascade controlled pneumatic positioning system with LuGre model based friction compensation



Título del documento: Cascade controlled pneumatic positioning system with LuGre model based friction compensation
Revista: Journal of the Brazilian Society of Mechanical Sciences and Engineering
Base de datos: PERIÓDICA
Número de sistema: 000312351
ISSN: 1678-5878
Autores: 1
2
3
4
Instituciones: 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
Año:
Periodo: Ene-Mar
Volumen: 28
Número: 1
Paginación: 48-57
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Experimental
Resumen en inglés 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
Disciplinas: Ingeniería
Palabras clave: Ingeniería de control,
Ingeniería mecánica,
Robótica,
Compensación de fricción,
Servoneumáticos
Keyword: Engineering,
Control engineering,
Mechanical engineering,
Servopneumatics,
Robotics,
Friction compensation
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