Compensating modeling and control for friction using adaptive fuzzy system

Author

Wang, Yongfu ; Chai, Tianyou

Author_Institution

Res. Center of Autom., Northeastern Univ., Shenyang, China

Volume

5

fYear

2004

fDate

14-17 Dec. 2004

Firstpage

5117

Abstract

This paper presents an application of an adaptive fuzzy system for compensating the effects induced by friction in a mechanical system. An adaptive fuzzy system based on fuzzy basis functions is employed, and a bound on the tracking error is derived from analysis of the tracking error dynamics. The hybrid controller is a combination of a PD controller and an adaptive fuzzy controller which compensates for nonlinear friction. The proposed scheme is tested on a single link robot control system. The algorithm and simulations results are described. The results are relevant for many precision drives, such as those found in a DC motor.

Keywords

DC motor drives; PD control; adaptive control; adaptive systems; compensation; friction; fuzzy control; fuzzy systems; machine control; DC motor; PD controller; adaptive fuzzy system; friction compensation; fuzzy basis functions; hybrid controller; mechanical system; modeling; nonlinear friction; precision drives; single link robot control system; tracking error; Adaptive control; Adaptive systems; Friction; Fuzzy control; Fuzzy systems; Mechanical systems; Nonlinear dynamical systems; PD control; Programmable control; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2004. CDC. 43rd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-8682-5

Type

conf

DOI

10.1109/CDC.2004.1429619

Filename

1429619