Adaptive stickslip friction and backlash compensation using dynamic fuzzy logic system
A dynamic fuzzy logic-based adaptive algorithm is proposed for reducing the effect of stickslip 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 stickslip friction and on a one-link robot manipulator with backlash.
stickslip friction dynamic fuzzy logic artificial neural networks