Abstract
This work presents a model-based friction compensation technique and an integral adaptive backstepping controller to improve the position control of the electrohydraulic servo system. The controller design uses a continuous approximation of the LuGre friction model and the Lyapunov theory of nonlinear systems. The friction compensation enhances system performance, and comparison tests are conducted on a hydraulic servo test bench to validate the control strategys tracking performance under various conditions.
Keywords
Electrohydraulic servo systems; Position control; Integral adaptive backstepping controller; LuGre dynamic friction model; Lyapunov theory; Friction compensation.
DOI
View DOI - (https://doi.org/10.36713/epra14520)
How to Cite:
Michael Enyan, Luis Miguel Ruiz Paez , POSITION CONTROL OF ELECTRO-HYDRAULIC SERVO SYSTEM WITH FRICTION COMPENSATION , Volume 9 , Issue 9, september 2023, EPRA International Journal of Multidisciplinary Research (IJMR) , DOI: https://doi.org/10.36713/epra14520