Title :
Adaptive backstepping fuzzy control for X-Y table with friction
Author :
Wei, Li-Xin ; Wang, Xia ; Wang, Hong-rui ; Wang, Pei-Guang
Author_Institution :
Inst. of Electr. Eng., YanShan Univ., Qinhuangdao, China
Abstract :
An adaptive backstepping control with a fuzzy system compensating the nonlinear friction is proposed for the servo system in X-Y table. The adaptive learning mechanism enables the fuzzy system to adapt to the changes of the friction model. The uncertainties of servo system and load are also considered in the design. Proof is given for the stability of the whole system. Simulation results validate the control law´s efficiency.
Keywords :
adaptive control; friction; fuzzy control; fuzzy systems; learning (artificial intelligence); servomechanisms; stability; X-Y table; adaptive backstepping fuzzy control; adaptive learning mechanism; fuzzy system; nonlinear friction; servo system; Adaptive control; Backstepping; Control systems; Friction; Fuzzy control; Fuzzy systems; Learning systems; Nonlinear control systems; Programmable control; Servomechanisms;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1382271
