Publication: Research - peer-review › Article in proceedings – Annual report year: 2012
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.
|Title of host publication||Automatic Control in Offshore Oil and Gas Production|
|Publisher||International Federation of Automatic Control|
|Conference||1st IFAC Workshop on Automatic Control of Offshore Oil and Gas Production|
|Period||31/05/12 → 01/06/12|
|Name||I F A C Workshop Series|
|Citations||Web of Science® Times Cited: No match on DOI|
- Automation, Electric drives, Hydraulic actuators, Lyapunov methods, Mechanical engineering, Mechanics, Process control, Real time control, Backstepping
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