Conference paper · Journal article
Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems
In
Ifac Proceedings Volumes
—
2012, Volume 45, Issue 8, pp. 310-315
Abstract
Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results.
The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is significantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation. © 2012 IFAC.
| Language: | English |
|---|---|
| Publisher: | International Federation of Automatic Control |
| Year: | 2012 |
| Pages: | 310-315 |
| Proceedings: | 1st IFAC Workshop |
| Series: | I F a C Workshop Series |
| ISBN: | 3902661992 and 9783902661999 |
| ISSN: | 14746670 |
| Types: | Conference paper and Journal article |
| DOI: | 10.3182/20120531-2-NO-4020.00046 |
| ORCIDs: | Blanke, Mogens |
