Cascade Controlled Pneumatic Positioning System with LuGre Model Based Friction Compensation

  title={Cascade Controlled Pneumatic Positioning System with LuGre Model Based Friction Compensation},
  author={Raul Guenther},
This paper proposes a cascade controller with frict ion compensation based on the LuGre model. This control is applied to a pneumatic posit i n ng system. The cascade methodology consists of dividing the pneumatic posi tioning system model into two subsystems: a mechanical subsystem and a pneumatic subsystem. This division allows the introduction of friction compensation at force leve l in the pneumatic positioning system. Using Lyapunov ́s direct method, the convergence of the tracking errors… CONTINUE READING
Highly Cited
This paper has 18 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 14 extracted citations


Publications referenced by this paper.
Showing 1-8 of 8 references

Modeling of a Pneumatic Positioning System ”

  • P. Lischinsky, C. Canudas de Wit, G. Morel, E. Perondi, R. Guenther
  • 2003

A New Model for Control Systems with Friction

  • P. schinsky
  • IEEE Transactions on Automatic Control
  • 1995

Variable Structure Adaptive Cascade Control of Rigid - Link Electrically Driven Robot Manipulators ”

  • R. Guenther, L. Hsu
  • 1993
1 Excerpt

Discontinuous Control Systems : State of Art in Theory and Applications ” , IFAC World Congress on Automatic Control

  • V. I. Utkin
  • 1987
1 Excerpt

Discontinuous Control Systems: S

  • V. I. Utkin
  • 1987
1 Excerpt

Cascade Control of the Hydraulic Actuators ”

  • R. Guenther, E. R. De Pieri

Similar Papers

Loading similar papers…