Adaptive fuzzy H∞ control for friction compensation and disturbance rejection

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.