Based Friction Compensation

This paper proposes a cascade controller with friction compensation based on the LuGre model. This control is applied to a pneumatic positioning system. The cascade methodology consists of dividing the pneumatic positioning system model into two subsystems: a mechanical subsystem and a pneumatic subsystem. This division allows the introduction of friction compensation at force level in the pneumatic positioning system. Using Lyapunov´s direct method, the convergence of the tracking errors is shown under the assumption that the system parameters are known. Experimental results illustrate the main characteristics of the proposed controller