A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system

This work presents the application of a friction compensation scheme to the trajectory-tracking control of a pneumatic servo actuator. Such scheme is based on a continuous approximation of the LuGre friction model, developed so as to allow complete Lyapunov stability analyses without resorting to assumptions that are difficult to satisfy in practice due to their physical meaning. By using adaptive estimation, extensive identification procedures are also avoided for determining friction parameters. Experimental results illustrate the most significant advantages and potential limitations of the proposed scheme in real applications.