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POSITION CONTROL OF ELECTRO-HYDRAULIC SERVO SYSTEM WITH FRICTION COMPENSATION


Michael Enyan, Luis Miguel Ruiz Paez
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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.
Journal Name :
EPRA International Journal of Multidisciplinary Research (IJMR)

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Published on : 2023-09-30

Vol : 9
Issue : 9
Month : September
Year : 2023
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