Title :
Adaptive stick-slip friction compensation using dynamic fuzzy logic system
Author :
Suraneni, Sreekanth ; Kar, I.N. ; Bhatt, R.K.P.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
Abstract :
A dynamic fuzzy logic based adaptive algorithm is proposed for reducing the effect of stick slip friction present in 1-DOF (one degree of freedom) mechanical mass system. The control scheme proposed is an online identification and indirect adaptive control, in which the control input is adjusted adaptively to compensate the effect of nonlinearity. Lyapunov stability analysis is used to ensure the boundedness of tracking errors, identification errors etc. The efficacy of the proposed algorithm is verified on a 1-DOF mechanical mass system with stick slip friction.
Keywords :
Lyapunov methods; adaptive control; control nonlinearities; fuzzy control; identification; mechanical variables control; motion control; sliding friction; DOF mechanical mass system; Lyapunov stability; adaptive control; adaptive stick-slip friction compensation; dynamic fuzzy logic; online identification; Adaptive algorithm; Adaptive control; Artificial neural networks; Control systems; Friction; Fuzzy logic; Lyapunov method; Mechanical systems; Motion control; Nonlinear dynamical systems;
Conference_Titel :
TENCON 2003. Conference on Convergent Technologies for the Asia-Pacific Region
Print_ISBN :
0-7803-8162-9
DOI :
10.1109/TENCON.2003.1273162
