Fuzzy Observer-Based Control of Servomechanisms Subject to Friction Dynamics

This paper proposes an approach of dynamic fuzzy modeling applied to friction compensation to enhance the performance of a servodrive system in tracking a trajectory. The fuzzy observer is derived from the dynamic nature of friction, and is used to suppress friction-induced errors. The linearity of...

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Bibliographic Details
Published inIECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society pp. 328 - 332
Main Authors Mostefai, L., Denai, M., Hori, Y.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 2007
Subjects
Force control
Friction
Fuzzy control
Fuzzy systems
Nonlinear control systems
Nonlinear dynamical systems
PD control
Proportional control
Servomechanisms
Velocity control
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ISBN1424407834
9781424407835
ISSN1553-572X
DOI10.1109/IECON.2007.4460132

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Summary:This paper proposes an approach of dynamic fuzzy modeling applied to friction compensation to enhance the performance of a servodrive system in tracking a trajectory. The fuzzy observer is derived from the dynamic nature of friction, and is used to suppress friction-induced errors. The linearity of the local models simplifies the design of the observer and its estimation capabilities are improved with the addition of a nonlinear compensating gain. Simulation results demonstrate the effectiveness of this observer-based control strategy.
ISBN:1424407834
9781424407835
ISSN:1553-572X
DOI:10.1109/IECON.2007.4460132