Nonlinear friction compensation based on neutral networks for the positioning table

A combined neutral networks based compensation Method for nonlinear friction in mechanical servo systems is presented. The controller composed of a traditional PID controller and an NN controller is designed. It has both the merits of the PID controllers and the general approximation property of the neural networks, and can be employed to compensate the nonlinear friction and other disturbances. Simulations and experiments are conducted on an X-Y positioning table. The experiment results show that the controller can compensate the nonlinear factors in the system, guarantee the system stability and diminish the tracking error.