Friction compensation in a Diesel engine electromechanical actuator

Two control strategies are used to compensate the friction effects in a Diesel engine electromechanical actuator. First, the considered actuator is introduced and its behaviour is modelled tacking into account the friction phenomenon. Next, the friction effects are compensated using the backstepping and the Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) techniques. For both controllers, the following cases are considered: friction is quantified using the Dahl model, friction is estimated via a LuGre observer with different initial conditions/with different friction parameters. Subsequently, all controllers are implemented and evaluated using Matlab-Simulnik environment. Finally, the obtained results as well as the performance of both controllers are discussed.