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Modeling and control compensation of nonlinear friction using adaptive fuzzy systems

机译：非线性摩擦的自适应模糊建模与控制补偿。

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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.
机译：在控制精度和稳定性方面，系统性能通常受到机械系统中发生摩擦的负面影响。因此，重要的是正确建模摩擦，以便可以在控制器设计中使用它。本文采用自适应模糊系统对未知的非线性摩擦函数进行近似，并在比例微分（PD）控制律中应用摩擦估计来提高控制性能。基于李雅普诺夫稳定性理论，推导了闭环控制系统的跟踪误差范围。本文提出的技术已应用于典型运动控制系统的仿真研究。所得结果表明，本文提出的方法在控制许多未知摩擦的机械系统中具有良好的潜力。

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