A novel fuzzy friction compensation approach for tracking of a linear motion stage

In this paper, the novel development of a fuzzy controller that compensates for nonlinear friction was presented. Based upon a nonlinear friction model, friction parameters were estimated from experimental results. Simulation and experimental validation on a ball-screw mechanism are presented, showing the effectiveness of the proposed controller. Furthermore, it is shown that the proposed fuzzy control scheme offers several implementation advantages such as less on-line computation time, fewer control effort, and reduced effect of measurement noise. Moreover, the fuzzy logic methodology displays superior performance as compared with a conventional PID controller. It also shows good and robust tracking with respect to system parameters variation