Feedback Linearization Control with Friction Compensation Applied to a Pneumatic Positioning System
نویسندگان
چکیده
This work presents a nonlinear control algorithm to be applied to the trajectory tracking of a pneumatic positioning system. The objective is to compensate the highly nonlinear effects that are inherent to such systems due to the dynamic behavior of pressurized air inside the chambers and to friction forces. In order to accomplish this task, the proposed algorithm employs the feedback linearization control technique, equiped with a friction-compensating scheme based on a continuous version of the LuGre friction model. A mathematical model of the controlled system that includes nonlinear friction effects is presented. The proposed controller is described and simulation results are presented in order to illustrate its main features.
منابع مشابه
Block-Oriented Nonlinear Control of Pneumatic Actuator Systems
Mechatronics is the art of directing the advances of a variety of academic and engineering areas to solve the smart machine problems. Author Supervisor Summary Title Language Keywords Document type Date www.md.kth.se This thesis treats block-oriented modelling, approximate linearization and control of a nonlinear pneumatic actuator system. The definition of the block-oriented nonlinear model is...
متن کاملDesign and Nanometer Positioning of a Low Friction Pneumatic Cylinder Embedded with Aerostatic Bearings
In the paper, a low friction pneumatic cylinder and a sliding table, and both of them are embedded with aerostatic bearings are designed. A low friction pneumatic table is constructed by combining the pneumatic cylinder and the sliding table. The characteristics for the friction force versus velocity of the pneumatic cylinder and the pneumatic table are measured. Moreover, a hybrid self-tuning ...
متن کاملAccurate position control of a pneumatic actuator using on/off solenoid valves
paper deals with accurate positioning of pneumatic actuator using solenoid controller to development a fast, accurate, and inexpensive position-controlled that may be applied to a variety of practical positioning applications are described. A Pulse Width Modulation PWM valve pulsing algorithm to allow the on/off solenoid valves to use in the place of costly servo valve. The open-loop characteri...
متن کاملTracking control of nonlinear pneumatic actuator systems using static state feedback linearization of the input–output map
To achieve more accurate tracking control, a control strategy for servo pneumatic systems based on the feedback linearization theory is presented. The nonlinear pneumatic actuator system is transformed into a linear system description, with a linear input–output map by regular static state feedback and state coordinate transformation. A servo tracking controller is then developed for the system...
متن کاملFriction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique
Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...
متن کامل