Implementation of a neuro-fuzzy controller for DC motor friction compensation

This paper presents an application of a neuro-fuzzy controller for compensating the effects induced by the friction in a DC motor system. The neuro-fuzzy controller is a combination of a linear controller and a neurofuzzy network which compensates for nonlinear friction. The proposed scheme is implemented and tested on an IBM PC-based DC motor control system. The algorithm, simulations, and experimental results are described. The results are relevant for precision drives, such those found in industrial robots.