Fuzzy logic based compensation of friction in low speed motion control Conference Paper

abstract

• A fuzzy adaptive feedforward control scheme in conjunction with conventional linear feedback control is proposed for use in mechanical motion control systems where friction undermines performance. The proposed control scheme was realized in terms of three alternative control systems for low speed control of a DC motor driving a mechanical system having both dry and lubricated junctions. In experiments these alternative control systems achieved good tracking performance, i.e. without stick-slip type oscillations for reference speeds as low as 0.005 rad/sec, while conventional linear control without fuzzy adaptation exhibited large stick-slip type oscillations or poor tracking performance over the same range of reference speeds.

name of conference

• Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)

authors

• Langari, Gholamreza

published proceedings

• PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL (ISIC'01)

author list (cited authors)

• Langari, R., & Hyun, D.

citation count

• 2

complete list of authors

• Langari, R||Hyun, D

publication date

• January 2001

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics And Robotics

Digital Object Identifier (DOI)

• 10.1109/ISIC.2001.971532

International Standard Book Number (ISBN) 10

• 0-7803-6722-7

start page

• 337

end page

• 342

URL

• http://dx.doi.org/10.1109/isic.2001.971532