Adaptive stick-slip friction and backlash compensation using dynamic fuzzy logic system

被引：25
|
作者：
Suraneni, S [1 ]
Kar, IN [1 ]
Murthy, OVR [1 ]
Bhatt, RKP [1 ]
机构：
[1] Indian Inst Technol, Dept Elect Engn, New Delhi 110016, India
来源：
APPLIED SOFT COMPUTING | 2005年 / 6卷 / 01期
关键词：
dynamic fuzzy logic; stick-slip friction; artificial neural networks;
D O I：
10.1016/j.asoc.2004.10.005
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A dynamic fuzzy logic-based adaptive algorithm is proposed for reducing the effect of stick-slip friction and for the compensation of backlash. The control scheme proposed is an online identification and indirect adaptive control, in which the control input is adjusted adaptively to compensate the effect of these non-linearities. A tuning algorithm for fuzzy logic parameters is used to ensure stable performance. The efficacy of the proposed algorithm is verified on a one degree of freedom (1-DOF) mechanical mass system with stick-slip friction and on a one-link robot manipulator with backlash. (C) 2004 Elsevier B.V. All rights reserved.
引用
收藏
页码：26 / 37
页数：12
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