Technical Briefs

Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation

[+] Author and Article Information
Hairong Zeng

Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, Manitoba R3T-5V6, Canada

Nariman Sepehri1

Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, Manitoba R3T-5V6, Canadanariman@cc.umanitoba.ca


Corresponding author.

J. Dyn. Sys., Meas., Control 130(1), 014502 (Jan 14, 2008) (7 pages) doi:10.1115/1.2807181 History: Received January 26, 2006; Revised June 19, 2007; Published January 14, 2008

This paper addresses the tracking control of hydraulic actuators commonly used in many hydraulically actuated robotic systems. Dynamic model of the entire actuator incorporating highly nonlinear hydraulic functions and the LuGre dynamic friction model is used to arrive at a suitable controller. The controller is augmented with adaptation laws to compensate for parametric uncertainties in the actuator dynamics, hydraulic functions as well as friction with nonuniform force variations. Furthermore, an adaptive observer is used in the controller to avoid the use of acceleration measurement. Therefore, only measurements of displacement, velocity, and hydraulic line pressures are required for the implementation of the proposed controller. Stability and convergence of the control system are theoretically studied. Experimental results are presented verifying the effectiveness of the developed controller.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Typical hydraulic actuator system

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Figure 2

Experimental electrohydraulic actuator

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Figure 3

Experimental position tracking error to a 1Hz, 0.03m amplitude sinusoidal reference input (experiment)

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Figure 5

Estimated Coulomb friction by the controller

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Figure 6

Estimation of external loading

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Figure 7

Point-to-point reference trajectory

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Figure 8

Point-to-point tracking error (experiment)

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Figure 10

Friction estimate

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Figure 11

Point-to-point tracking error in the absence of friction compensation




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