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Adaptive stick-slip friction compensation using dynamic fuzzy logic system

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3 Author(s)
Suraneni, S. ; Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India ; Kar, I.N. ; Bhatt, R.K.P.

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.

Published in:

TENCON 2003. Conference on Convergent Technologies for the Asia-Pacific Region  (Volume:4 )

Date of Conference:

15-17 Oct. 2003