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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.
Decision and Control, 2004. CDC. 43rd IEEE Conference on (Volume:5 )
Date of Conference: 14-17 Dec. 2004