We introduce a method of observer design for systems described by a linear part with a nonlinear perturbation, where the perturbation is parameterized by a vector of unknown, constant parameters. The design is modular, and consists of a modified high-gain observer that estimates the states of the system together with the full perturbation, and a parameter estimator. The parameter estimator is c...

Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed ...

Based on distributions theory to continuous time systems with friction using the this paper presents a batch on-line method for the parameter identification of the modified LuGre friction model. Mainly it applies the results of the identification procedures based on distributions theory to continuous time systems with friction. There are defined the so called generalized friction dynamic system...

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy these manipulators essentially linked with the advancements non-linear control systems. The objective this research propose a robust algorithm for five degree freedom (DOF) ...

This paper presents the identification procedures based on distributions theory to continuous time systems with friction using the modified LuGre friction model. Mainly it applies the results of the identification procedures based on distributions theory to continuous time systems with friction. There are defined the so called generalized friction dynamic systems (GFDS) as a closed loop structu...

Servo valve controlled hydraulic differential cylinders are non-linear, strongly coupled multivariable electromechanical systems. When the piston’s velocity with respect to the cylinder is in the vicinity of zero the effect of adhesion is a significant effect due to which decreasing absolute value of velocity results in increasing stiction force. Furthermore, when the motion is initiated from e...

This paper presents a new controller for the position of pneumatic actuator. The is designed based on multiple-surface sliding control method in combination with frictional compensator. applied to deal nonlinear characteristics system, and compensator compensate friction force estimated dynamic model (the LuGre model). Both simulation experimental studies are done evaluate controller. evaluatio...

This work presents a nonlinear control algorithm to be applied to the trajectory tracking of a pneumatic positioning system. The objective is to compensate the highly nonlinear effects that are inherent to such systems due to the dynamic behavior of pressurized air inside the chambers and to friction forces. In order to accomplish this task, the proposed algorithm employs the feedback lineariza...

In this paper, we extend the observer/control strategies previously published in [25] to an n-link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the LuGre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adap...