Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2012

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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.
Original languageEnglish
Title of host publicationAutomatic Control in Offshore Oil and Gas Production
PublisherInternational Federation of Automatic Control
Publication date2012
Pages310-315
ISBN (print)978-3-902661-99-9
DOIs
StatePublished

Conference

Conference1st IFAC Workshop on Automatic Control of Offshore Oil and Gas Production
CountryNorway
CityTrondheim
Period31/05/1201/06/12
NameI F A C Workshop Series
Volume1
ISSN (Print)1474-6670
CitationsWeb of Science® Times Cited: No match on DOI

Keywords

  • Automation, Electric drives, Hydraulic actuators, Lyapunov methods, Mechanical engineering, Mechanics, Process control, Real time control, Backstepping
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