{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:08:14Z","timestamp":1777910894552,"version":"3.51.4"},"reference-count":38,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2024,1,6]],"date-time":"2024-01-06T00:00:00Z","timestamp":1704499200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2024,6]]},"abstract":"<jats:p>In this paper, a LuGre model\u2013based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by \u03c3-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.<\/jats:p>","DOI":"10.1177\/01423312231201676","type":"journal-article","created":{"date-parts":[[2024,1,6]],"date-time":"2024-01-06T07:51:54Z","timestamp":1704527514000},"page":"1845-1857","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["LuGre model\u2013based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction"],"prefix":"10.1177","volume":"46","author":[{"given":"Bing-Long","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation, Northeastern University, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9050-4111","authenticated-orcid":false,"given":"Yan","family":"Cai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, China"},{"name":"Key Laboratory of Marine Robotics, China"}]},{"given":"Jin-Chun","family":"Song","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Northeastern University, China"}]},{"given":"Nariman","family":"Sepehri","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Manitoba, Canada"}]}],"member":"179","published-online":{"date-parts":[[2024,1,6]]},"reference":[{"key":"bibr1-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2946871"},{"key":"bibr2-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2020.3029359"},{"key":"bibr3-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-023-0536-0"},{"key":"bibr4-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/41.857974"},{"key":"bibr5-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1115(199702)11:1<65::AID-ACS395>3.0.CO;2-3"},{"key":"bibr6-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"bibr7-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3034923"},{"key":"bibr8-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2021.12.026"},{"key":"bibr9-01423312231201676","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2011621"},{"key":"bibr10-01423312231201676","doi-asserted-by":"publisher","DOI":"10.3390\/act6010010"},{"key":"bibr11-01423312231201676","volume-title":"Adaptive Systems with Reduced Models. 2. 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