CASCADE CONTROL OF HYDRAULICALLY DRIVEN MANIPULATORS WITH FRICTION COMPENSATION

Authors

  • Antonio Carlos Valdiero Regional University of Northwestern Rio Grande do Sul State (UNIJUÍ), DETEC, Panambi, 98280-000 RS, Brazil
  • Raul Guenther Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil
  • Edson Roberto De Pieri Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil
  • Victor Juliano De Negri Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Keywords:

hydraulically driven manipulators, cascade control, friction compensation, lyapunov based design

Abstract

This paper addresses the control of hydraulically driven manipulators with friction compensation. A cascade control strategy combined with a friction observer based on the Lugre friction model and including stiction effects is used and the convergence properties of the closed loop system are established using the Lyapunov method. This controller design and analysis are the new contributions of the paper. The theoretical analysis resulted in practical rules to tune the controller gains in order to guarantee its stability and the convergence of all the tracking errors, including the friction observer errors. An experimental implementation outlines the controller design details and illustrates the main features of the proposed strategy.

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Author Biographies

Antonio Carlos Valdiero, Regional University of Northwestern Rio Grande do Sul State (UNIJUÍ), DETEC, Panambi, 98280-000 RS, Brazil

Antonio Carlos Valdiero Was born in Volta Redonda, Brazil, in 1969. He received his Mechanical Engineering degree in 1992, from UFRJ, Brazil, M. Sc. Degree in 1994, from UFSC, Brazil, and Doctoral degree in Mechanical Engineering in 2005, from UFSC, Brazil. Since 1994, he has been a professor at the Technology Department at UNIJUÍ, Brazil.

Raul Guenther, Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Raul Guenther Was born in Joinville, Brazil, in 1953. He received his Mechanical Engineering degree, in 1976, from UFSC, Brazil, and D. Sc. in Mechanical Engineering in 1993 from UFRJ, Brazil. Since 1977 he has been a professor at the Department of Mechanical Engineering at UFSC. At the moment, he is the head of the Robotics Laboratory.

Edson Roberto De Pieri, Federal University of Santa Catarina (UFSC), DAS/CTC, Florianópolis, 88040-900 SC, Brazil

Edson Roberto De Pieri Was born in Mogi Mirim, Brazil, in 1960. He received his Mathematics degree in 1982, and M. Sc. degree in Electrical Engineering in 1987, both from UNICAMP, Brazil. In 1991, he received his D. Sc. degree from the Pierre et Marie Curie University, France. Since 1992 he has been a professor at the Department of Automation and Systems at UFSC.

Victor Juliano De Negri, Federal University of Santa Catarina (UFSC), EMC/CTC, Florianópolis, 88040-900 SC, Brazil

Victor Juliano De Negri Was born in São Leopoldo, Brazil. He received his Mechanical Engineering degree in 1983, from UNISINOS, Brazil, M.Eng. degree in 1986, and D.Eng. degree, both from UFSC, Brazil. Since 1995, he has been a professor at the Department of Mechanical Engineering at UFSC. He is currently the head of the Laboratory of Hydraulic and Pneumatic Systems.

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Published

2007-08-01

How to Cite

Valdiero, A. C., Guenther, R., De Pieri, E. R., & De Negri, V. J. (2007). CASCADE CONTROL OF HYDRAULICALLY DRIVEN MANIPULATORS WITH FRICTION COMPENSATION. International Journal of Fluid Power, 8(1), 7–16. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/543

Issue

2007: Vol 08 Iss 1

Section

Original Article

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