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 André, De Pieri, Edson Roberto, Valdiero, Antônio Carlos
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFRGS
Texto Completo: http://hdl.handle.net/10183/75788
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.
id UFRGS-2_b9c5b521694f40bcbe2207a987f80a4f
oai_identifier_str oai:www.lume.ufrgs.br:10183/75788
network_acronym_str UFRGS-2
network_name_str Repositório Institucional da UFRGS
repository_id_str
spelling Guenther, RaulPerondi, Eduardo AndréDe Pieri, Edson RobertoValdiero, Antônio Carlos2013-07-11T02:22:08Z20061806-3691http://hdl.handle.net/10183/75788000545392This 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.application/pdfengJournal of the Brazilian Society of Mechanical Sciences and Engineering. Rio de Janeiro, RJ. Vol. 28, no. 1 (Jan./Mar. 2006), p. 48-57Controle pneumáticoRobóticaServopneumaticsRoboticsCascade controlFriction compensationCascade controlled pneumatic positioning system with lugre model based friction compensationinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/otherinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSORIGINAL000545392.pdf000545392.pdfTexto completo (inglês)application/pdf312679http://www.lume.ufrgs.br/bitstream/10183/75788/1/000545392.pdfafa7a040716d4061f2d92fc161f9e5dfMD51TEXT000545392.pdf.txt000545392.pdf.txtExtracted Texttext/plain39803http://www.lume.ufrgs.br/bitstream/10183/75788/2/000545392.pdf.txt0ed0bc3b94d9b6734b0ddc753a76f075MD52THUMBNAIL000545392.pdf.jpg000545392.pdf.jpgGenerated Thumbnailimage/jpeg1845http://www.lume.ufrgs.br/bitstream/10183/75788/3/000545392.pdf.jpga337e1ab49e84319508d1a13a42a3ab5MD5310183/757882022-04-20 04:45:16.488944oai:www.lume.ufrgs.br:10183/75788Repositório de PublicaçõesPUBhttps://lume.ufrgs.br/oai/requestopendoar:2022-04-20T07:45:16Repositório Institucional da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false
dc.title.pt_BR.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
Controle pneumático
Robótica
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 André
De Pieri, Edson Roberto
Valdiero, Antônio Carlos
author_role author
author2 Perondi, Eduardo André
De Pieri, Edson Roberto
Valdiero, Antônio Carlos
author2_role author
author
author
dc.contributor.author.fl_str_mv Guenther, Raul
Perondi, Eduardo André
De Pieri, Edson Roberto
Valdiero, Antônio Carlos
dc.subject.por.fl_str_mv Controle pneumático
Robótica
topic Controle pneumático
Robótica
Servopneumatics
Robotics
Cascade control
Friction compensation
dc.subject.eng.fl_str_mv 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.issued.fl_str_mv 2006
dc.date.accessioned.fl_str_mv 2013-07-11T02:22:08Z
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/other
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10183/75788
dc.identifier.issn.pt_BR.fl_str_mv 1806-3691
dc.identifier.nrb.pt_BR.fl_str_mv 000545392
identifier_str_mv 1806-3691
000545392
url http://hdl.handle.net/10183/75788
dc.language.iso.fl_str_mv eng
language eng
dc.relation.ispartof.pt_BR.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering. Rio de Janeiro, RJ. Vol. 28, no. 1 (Jan./Mar. 2006), p. 48-57
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFRGS
instname:Universidade Federal do Rio Grande do Sul (UFRGS)
instacron:UFRGS
instname_str Universidade Federal do Rio Grande do Sul (UFRGS)
instacron_str UFRGS
institution UFRGS
reponame_str Repositório Institucional da UFRGS
collection Repositório Institucional da UFRGS
bitstream.url.fl_str_mv http://www.lume.ufrgs.br/bitstream/10183/75788/1/000545392.pdf
http://www.lume.ufrgs.br/bitstream/10183/75788/2/000545392.pdf.txt
http://www.lume.ufrgs.br/bitstream/10183/75788/3/000545392.pdf.jpg
bitstream.checksum.fl_str_mv afa7a040716d4061f2d92fc161f9e5df
0ed0bc3b94d9b6734b0ddc753a76f075
a337e1ab49e84319508d1a13a42a3ab5
bitstream.checksumAlgorithm.fl_str_mv MD5
MD5
MD5
repository.name.fl_str_mv Repositório Institucional da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)
repository.mail.fl_str_mv
_version_ 1815447499615240192

Registros relacionados