Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model

Duo Yang Li, Jun Zheng, Wang Ren Jian Hao, Shou Kun Wang, Wei Shen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In this paper, the adaptive robust control (ARC) algorithm is proposed for tracking control of the electric cylinder position. According to the analysis of the working principle of the electric cylinder servo system, the model of the system is established on the modified Lugre friction model, and single observer is designed for calculating friction as well. Then the ARC controller and adaptive law are designed for on-line parameters estimation, frictional compensation and the suppression external disturbance. Through the Lyapunov approach, the stability of this system can be obtained in this work. The simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation.

Original languageEnglish
Title of host publicationProceedings of the 36th Chinese Control Conference, CCC 2017
EditorsTao Liu, Qianchuan Zhao
PublisherIEEE Computer Society
Pages3315-3320
Number of pages6
ISBN (Electronic)9789881563934
DOIs
Publication statusPublished - 7 Sept 2017
Event36th Chinese Control Conference, CCC 2017 - Dalian, China
Duration: 26 Jul 201728 Jul 2017

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference36th Chinese Control Conference, CCC 2017
Country/TerritoryChina
CityDalian
Period26/07/1728/07/17

Keywords

  • Lugre model
  • adaptive robust control
  • parameter estimation

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Cite this

Li, D. Y., Zheng, J., Hao, W. R. J., Wang, S. K., & Shen, W. (2017). Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model. In T. Liu, & Q. Zhao (Eds.), Proceedings of the 36th Chinese Control Conference, CCC 2017 (pp. 3315-3320). Article 8027870 (Chinese Control Conference, CCC). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2017.8027870