Publication Type:

Journal Article

Source:

Applied Soft Computing, Volume 6, Number 1, p.26 - 37 (2005)

URL:

http://www.sciencedirect.com/science/article/pii/S1568494604001085

Keywords:

Dynamic fuzzy logic; Stick–slip friction; Artificial neural networks

Abstract:

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.

Cite this Research Publication

S. Suraneni, Kar, I. N., Dr. Oruganti Venkata Ramana Murthy, and Bhatt, R. K. P., “Adaptive stick–slip friction and backlash compensation using dynamic fuzzy logic system”, Applied Soft Computing, vol. 6, pp. 26 - 37, 2005.