Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

Martin Choux; Geir Hovland; Mogens Blanke

doi:10.3182/20120531-2-NO-4020.00046

Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

Martin Choux
, Geir Hovland
, Mogens Blanke

University of Agder

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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.

Original language	English
Title of host publication	Automatic Control in Offshore Oil and Gas Production
Publisher	International Federation of Automatic Control
Publication date	2012
Pages	310-315
ISBN (Print)	978-3-902661-99-9
DOIs	https://doi.org/10.3182/20120531-2-NO-4020.00046
Publication status	Published - 2012
Event	1st IFAC Workshop: Automatic Control in Offshore Oil and Gas Production - Norwegian University of Science and Technology, Trondheim, Norway Duration: 31 May 2012 → 1 Jun 2012 Conference number: 1

Workshop

Workshop	1st IFAC Workshop
Number	1
Location	Norwegian University of Science and Technology
Country/Territory	Norway
City	Trondheim
Period	31/05/2012 → 01/06/2012

Series	I F A C Workshop Series
Volume	1
ISSN	1474-6670

Keywords

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

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@inproceedings{eedf695095984810926befd0656ef33d,

title = "Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems",

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. {\textcopyright} 2012 IFAC.",

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

author = "Martin Choux and Geir Hovland and Mogens Blanke",

year = "2012",

doi = "10.3182/20120531-2-NO-4020.00046",

language = "English",

isbn = "978-3-902661-99-9",

series = "I F A C Workshop Series",

publisher = "International Federation of Automatic Control",

pages = "310--315",

booktitle = "Automatic Control in Offshore Oil and Gas Production",

note = "1st IFAC Workshop : Automatic Control in Offshore Oil and Gas Production, ACOOG 2012 ; Conference date: 31-05-2012 Through 01-06-2012",

}

Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems. / Choux, Martin; Hovland, Geir; Blanke, Mogens.
Automatic Control in Offshore Oil and Gas Production. International Federation of Automatic Control, 2012. p. 310-315 (I F A C Workshop Series, Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

AU - Choux, Martin

AU - Hovland, Geir

AU - Blanke, Mogens

N1 - Conference code: 1

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - Automation

KW - Electric drives

KW - Hydraulic actuators

KW - Lyapunov methods

KW - Mechanical engineering

KW - Mechanics

KW - Process control

KW - Real time control

KW - Backstepping

U2 - 10.3182/20120531-2-NO-4020.00046

DO - 10.3182/20120531-2-NO-4020.00046

M3 - Article in proceedings

SN - 978-3-902661-99-9

T3 - I F A C Workshop Series

SP - 310

EP - 315

BT - Automatic Control in Offshore Oil and Gas Production

PB - International Federation of Automatic Control

T2 - 1st IFAC Workshop

Y2 - 31 May 2012 through 1 June 2012

ER -

Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

Abstract

Workshop

Keywords

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