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Dept Comp Sci & Comp Eng
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La Trobe University
Victoria 3086
AUSTRALIA
Tel: +61 3 9479 1107
Fax: +61 3 9479 3060
Email: info
@cs.latrobe.edu.au
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Research Publications - Abstract
Department of Computer Science & Computer Engineering
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Wang, D.H., Wang, Y.F., and Chai, T.Y. |
| Publication Year: |
2009 |
| Paper Title: |
Modeling and control compensation of nonlinear friction using adaptive fuzzy systems |
| Journal Name: |
Mechanical Systems and Signal Processing |
| Volume: |
23 / 8 |
| Pages: |
2445 - 2457 |
| Abstract: |
System performance in terms of control accuracy and stability is usually negatively affected by friction occurrences in mechanical systems. Thus, it is important to model the friction properly so that it can be used in controller design. This paper employs adaptive fuzzy systems to approximate unknown nonlinear friction functions, and applies the estimation of friction in proportional-derivative (PD) control law to enhance the control performance. On the basis of Lyapunov stability theory, a bound of tracking errors of the closed-loop control system is derived. Techniques proposed in this paper have been applied to a typical motion control system for simulation studies. the results obtained demonstrate that our proposed method in this paper has good potential in controlling many mechanical systems with unknown nonlinear friction.
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