Abstract
This work presents a model-based friction compensation technique and an integral adaptive backstepping controller to improve the position control of the electrohydraulic servo system. The controller design uses a continuous approximation of the LuGre friction model and the Lyapunov theory of nonlinear systems. The friction compensation enhances system performance, and comparison tests are conducted on a hydraulic servo test bench to validate the control strategy's tracking performance under various conditions. KEYWORDS: Electrohydraulic servo systems; Position control; Integral adaptive backstepping controller; LuGre dynamic friction model; Lyapunov theory; Friction compensation.
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