Cascade Controller Including Backstepping for Hydraulic-Mechanical Systems
Automatic Control in Offshore Oil and Gas Production, Volume # 1 | Part# 1
Choux, Martin; Hovland, Geir; Blanke, Mogens
Digital Object Identifier (DOI)
Autonomous systems/robotics; Automated Drilling: Managed pressure drilling, Dualgradient systems, Directional drilling, etc.
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 and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is signicantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation.
Alleyne, A. and Liu, R. (2000). Systematic control of a class of nonlinear systems with application to electrohydraulic cylinder pressure control. IEEE Transactions on Control Systems Technology, 8(4), 623-634. doi:10.1109/87.852908. Bonchis, A., Corke, P., and Rye, D. (2002). Experimental Evaluation of Position Control Methods for Hydraulic Systems. IEEE Transactions on Control Systems Technology, 10(6), 876-882. doi:10.1109/TCST.2002.804128. Canudas de Wit, C., Olsson, H., Åström, K., and Lischinsky, P. (1995). A new model for control of systems with friction. IEEE Trans. on Automatic Control, 40(3), 419-425. doi:10.1109/9.376053. Choux, M. and Hovland, G. (2010). Adaptive backstepping control of nonlinear hydraulic-mechanical system including valve dynamics. Modeling, Identification and Control, 31(1), 35-44. doi:10.4173/mic.2010.1.3. Kanellakopoulos, I., Kokotovic, P., and a.S. Morse (1991). Systematic design of adaptive controllers for feedback linearizable systems. IEEE Transactions on Automatic Control, 36(11), 1241-1253. doi:10.1109/9.100933. Krstic, M., Kanellakopoulos, I., and Kokotovic, P. (1995). Nonlinear and Adaptive Control Design. Wiley, New York. Pavlichkov, S. and Ge, S. (2009). Global Stabilization of the Generalized MIMO Triangular Systems With Singular Input-Output Links. IEEE Transactions on Automatic Control, 54(8), 1794-1806. doi:10.1109/TAC.2009.2024566. Schindele, D. and Aschemann, H. (2009). Adaptive friction compensation based on the LuGre model for a pneumatic rodless cylinder. 35th Annual Conf. of IEEE Industrial Electronics, 1432-1437. doi:10.1109/IECON.2009.5414726. Seto, D., a.M. Annaswamy, and Baillieul, J. (1994). Adaptive control of nonlinear systems with a triangular structure. IEEE Transactions on Automatic Control, 39(7), 1411-1428. doi:10.1109/9.299624. Zeng, H. and Sepehri, N. (2006). Adaptive backstepping control of hydraulic manipulators with friction compensation using LuGre model. In Proc. American Control Conference, 3164-3169. Zeng, H. and Sepehri, N. (2008). Tracking Control of Hydraulic Actuators Using a LuGre Friction Model Compensation. Journal of Dynamic Systems, Measurement, and Control, 130(1), 0145021-0145027. doi:10.1115/1.2807181.