Compensating modeling and control for friction using adaptive fuzzy system

Abstract

This paper presents an application of an adaptive fuzzy system for compensating the effects induced by friction in a mechanical system. An adaptive fuzzy system based on fuzzy basis functions is employed, and a bound on the tracking error is derived from 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 tested on a single link robot control system. The algorithm and simulations results are described. The results are relevant for many precision drives, such as those found in a DC motor.