Title :
Neuro-fuzzy control for DC motor friction compensation
Author :
Jang, Jun Oh ; Lee, Pyeong Gi
Author_Institution :
Dept. of Comput. Control Eng, Uiduk Univ., Kyongju, South Korea
Abstract :
This paper presents an application of a neuro-fuzzy controller for compensating the effects induced by the friction in a DC motor system. The neuro-fuzzy controller is a combination of a linear controller and a neuro-fuzzy network which compensates for nonlinear friction. The proposed scheme is implemented and tested on an IBM PC-based DC motor control system. The algorithm, simulations, and experimental results are described. The results are relevant for precision drive, such those found in industrial robots
Keywords :
DC motors; compensation; control nonlinearities; friction; fuzzy control; fuzzy neural nets; machine control; microcomputer applications; neurocontrollers; DC motor friction compensation; IBM PC-based DC motor control system; industrial robots; linear controller; neuro-fuzzy control; precision drive; Adaptive control; Application software; Control engineering; Control engineering computing; Control nonlinearities; Control systems; DC motors; Friction; Neural networks; Parameter estimation;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912255
