Cascade controlled pneumatic positioning system with LuGre model based friction compensation

Detalhes bibliográficos
Autor(a) principal: Guenther,Raul
Data de Publicação: 2006
Outros Autores: Perondi,Eduardo A., DePieri,Edson R., Valdiero,Antônio C.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000100006
Resumo: 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.
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spelling Cascade controlled pneumatic positioning system with LuGre model based friction compensationServopneumaticsroboticscascade controlfriction compensationThis 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.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2006-03-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000100006Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.1 2006reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782006000100006info:eu-repo/semantics/openAccessGuenther,RaulPerondi,Eduardo A.DePieri,Edson R.Valdiero,Antônio C.eng2006-03-20T00:00:00Zoai:scielo:S1678-58782006000100006Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2006-03-20T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Cascade controlled pneumatic positioning system with LuGre model based friction compensation
title Cascade controlled pneumatic positioning system with LuGre model based friction compensation
spellingShingle Cascade controlled pneumatic positioning system with LuGre model based friction compensation
Guenther,Raul
Servopneumatics
robotics
cascade control
friction compensation
title_short Cascade controlled pneumatic positioning system with LuGre model based friction compensation
title_full Cascade controlled pneumatic positioning system with LuGre model based friction compensation
title_fullStr Cascade controlled pneumatic positioning system with LuGre model based friction compensation
title_full_unstemmed Cascade controlled pneumatic positioning system with LuGre model based friction compensation
title_sort Cascade controlled pneumatic positioning system with LuGre model based friction compensation
author Guenther,Raul
author_facet Guenther,Raul
Perondi,Eduardo A.
DePieri,Edson R.
Valdiero,Antônio C.
author_role author
author2 Perondi,Eduardo A.
DePieri,Edson R.
Valdiero,Antônio C.
author2_role author
author
author
dc.contributor.author.fl_str_mv Guenther,Raul
Perondi,Eduardo A.
DePieri,Edson R.
Valdiero,Antônio C.
dc.subject.por.fl_str_mv Servopneumatics
robotics
cascade control
friction compensation
topic Servopneumatics
robotics
cascade control
friction compensation
description 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.
publishDate 2006
dc.date.none.fl_str_mv 2006-03-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000100006
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000100006
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782006000100006
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.1 2006
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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