Publication Type:

Conference Paper


TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region (2003)



Adaptive algorithm, adaptive control, adaptive stick-slip friction compensation, Artificial neural networks, Control nonlinearities, Control systems, DOF mechanical mass system, dynamic fuzzy logic, Friction, Fuzzy control, Fuzzy logic, Identification, Lyapunov method, Lyapunov methods, Lyapunov stability, Mechanical systems, mechanical variables control, motion control, nonlinear dynamical systems, online identification, sliding friction


A dynamic fuzzy logic based adaptive algorithm is proposed for reducing the effect of stick slip friction present in 1-DOF (one degree of freedom) mechanical mass system. 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 nonlinearity. Lyapunov stability analysis is used to ensure the boundedness of tracking errors, identification errors etc. The efficacy of the proposed algorithm is verified on a 1-DOF mechanical mass system with stick slip friction.

Cite this Research Publication

S. Suraneni, Kar, I. N., Bhatt, R. K. P., and Dr. Oruganti Venkata Ramana Murthy, “Adaptive stick-slip friction compensation using dynamic fuzzy logic system”, in TENCON 2003. Conference on Convergent Technologies for Asia-Pacific Region, 2003.