Search

The position tracking control problem of the electric cylinder is addressed under the influence of nonlinear factors such as friction and disturbance in this paper. First, the dynamic model of electric cylinder is established based on LuGre friction model. Secondly, a nonlinear observer is designed to compensate the friction of servo system. Finally, an adaptive robust controller based on discontinuous projection mapping is proposed to deal with the parameter uncertainty and guarantee the robust performance. The co-simulation results based on Matlab and Recurdyn show that the proposed controller has high control precision and strong robustness.