DocumentCode :
3550054
Title :
Friction compensating modeling and control based on adaptive fuzzy system
Author :
Wang, Yongfu ; Huang, Xiaoling ; Zhao, Lijie ; Chai, Tianyou
Author_Institution :
Res. Center of Autom., Northeastern Univ., Shenyang, China
Volume :
3
fYear :
2004
fDate :
6-9 Dec. 2004
Firstpage :
2041
Abstract :
This paper presents an application of an adaptive fuzzy system for compensating the effects induced by the friction in mechanical system. An adaptive fuzzy system based on fuzzy basis functions is employed, and a bound on the tracking error is derived from the analysis of the tracking error dynamics. The hybrid-controller is a combination of a PD controller and an adaptive fuzzy controller which compensates for nonlinear friction. The proposed scheme is implemented and tested on a DC motor control system. The algorithm and simulations results are described. The results are relevant for many precision drives, such as those found in robot.
Keywords :
DC motors; PD control; adaptive control; adaptive systems; compensation; friction; fuzzy control; fuzzy systems; machine control; DC motor control system; PD controller; adaptive fuzzy controller; adaptive fuzzy system application; friction compensating control; friction compensating modeling; fuzzy basis functions; hybrid controller; mechanical system friction; nonlinear friction; precision drives; tracking error dynamics analysis; Adaptive control; Adaptive systems; Friction; Fuzzy control; Fuzzy systems; Mechanical systems; Nonlinear dynamical systems; PD control; Programmable control; System testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
Type :
conf
DOI :
10.1109/ICARCV.2004.1469477
Filename :
1469477
Link To Document :
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