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

Volume

4

fYear

2003

fDate

15-17 Oct. 2003

Firstpage

1470

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;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 2003. Conference on Convergent Technologies for the Asia-Pacific Region

Print_ISBN

0-7803-8162-9

Type

conf

DOI

10.1109/TENCON.2003.1273162

Filename

1273162