Adaptive robust control for electrical cylinder with friction compensation using modified LuGre model

作者：Hao Ren Jian; Wang Jun Zheng^*; Zhao Jiang Bo; Wang Shou Kun

来源：Journal of Beijing Institute of Technology, 2014, 23(3): 358-367.

• Adaptive robust
• Adaptive robust controllers
• Discontinuous projection
• Friction compensation
• LuGre model
• Lyapunov stability analysis
• Parametric uncertainties
• Position tracking control

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.

• 出版日期2014
• 单位北京理工大学