Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model

Author

Zeng, Hairong ; Sepehri, Nariman

Author_Institution

Dept. of Mech. & Manuf. Eng., Manitoba Univ., Winnipeg, Man.

fYear

2006

fDate

14-16 June 2006

Abstract

This paper addresses the backstepping control of hydraulic manipulators with friction compensation. A third-order nonlinear dynamic model is used for the controller design while LuGre dynamic friction model with non-uniform friction force variations characterizes the friction forces. The controller is augmented with adaptation laws to compensate for parametric uncertainties in the system dynamics. Acceleration feedback is avoided by using an adaptive observer. Asymptotic stability of the whole control system is proven via Lyapunov analysis. Simulation and experimental results are presented verifying the effectiveness of the developed controller

Keywords

Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; friction; hydraulic systems; manipulators; nonlinear dynamical systems; observers; LuGre model; Lyapunov analysis; adaptive backstepping control; adaptive observer; asymptotic stability; control design; friction compensation; hydraulic manipulators; nonlinear dynamic model; Acceleration; Adaptive control; Backstepping; Control systems; Force control; Friction; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657204

Filename

1657204