Adaptive fuzzy H∞ control for friction compensation and disturbance rejection

Author

Zhiping, Li ; Jie, Chen ; Guozhu, Zhang

Author_Institution

Educ. Minist. Key Lab. of Complex Syst. Intell. Control & Decision, Beijing Inst. of Technol., Beijing

fYear

2008

fDate

16-18 July 2008

Firstpage

349

Lastpage

353

Abstract

An adaptive fuzzy H_infin control scheme which possesses the strongpoint of adaptive fuzzy control and H_infin control was proposed in this paper. The adaptive fuzzy control can compensate the nonlinear dynamic friction with its universal approximation function and strong robustness, while the H_infin control can suppress the disturbance efficaciously. Finally, the closed-loop system stability and asymptotic position tracking performance were guaranteed by the Lyapunov function and the system tracking accuracy improved, which was verified by the simulation results.

Keywords

H^infin control; Lyapunov methods; adaptive control; closed loop systems; friction; fuzzy control; stability; Lyapunov function; adaptive fuzzy H_infin control; closed-loop system stability; disturbance rejection; friction compensation; Adaptive control; Control systems; Educational technology; Friction; Fuzzy control; Fuzzy systems; Intelligent control; Laboratories; Nonlinear dynamical systems; Programmable control; Adaptive fuzzy control; Disturbance rejection; Friction compensation; H∞ control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605480

Filename

4605480