Friction Compensated Fuzzy Force Tracking Control of Electro-Hydraulic System

Friction is one of the main cause that affects the tracking accuracy of the control system. This study presents the steady state friction estimation in a hydraulic cylinder. Cylinder force tracking of PID and fuzzy PD control systems under friction compensated reference were tested and compared. Fuzzy control system, which has a more design flexibility compared with PID, yielded a better tracking performance, with 10% and 14% better in average tracking error at maximum compression and RMS error, respectively.