On-line parameter tuning of discontinous fuzzy friction compensator in linear drive

This paper presents an adaptive algorithm to control the position of the linear motor. The algorithm uses the discontinuous fuzzy model of friction with extended functions of consequence in rules. Learning data for tuning the model were collected with using parametric observer for identifying friction. For tuning off-line model, bacterial evolutionary algorithm was used. Adaptive part of the control algorithm was used for the calculation of the friction correction factor. The corrected value of the modeled friction force was used for on-line tuning of fuzzy friction model. The effectiveness of the proposed solution was verified in the real mechatronic system.