Modeling and control compensation of nonlinear friction using adaptive fuzzy systems

被引:39
作者
Wang, Y. F. [1 ]
Wang, D. H. [2 ]
Chai, T. Y. [3 ]
机构
[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 11004, Liaoning, Peoples R China
[2] La Trobe Univ, Dept Comp Sci & Comp Engn, Melbourne, Vic 3086, Australia
[3] Northeastern Univ, Res Ctr Automat, Shenyang 11004, Liaoning, Peoples R China
基金
中国国家自然科学基金;
关键词
Nonlinear friction; Adaptive fuzzy system; Stability analysis; Feed-forward control compensation; IDENTIFICATION; SINGLE; APPROXIMATION;
D O I
10.1016/j.ymssp.2009.05.006
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
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. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码:2445 / 2457
页数:13
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