Stable Adaptive Fuzzy Control with TSK Fuzzy Friction Estimation for Linear Drive Systems

ISSN： 0921-0296

Source： Journal of Intelligent and Robotic Systems, Vol.38, Iss.2, 2003-10, pp. : 237-253

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Abstract

This paper considers the control of a linear drive system with friction and disturbance compensation. A stable adaptive controller integrated with fuzzy model-based friction estimation and switching-based disturbance compensation is proposed via Lyapunov stability theory. A TSK fuzzy model with local linear friction models is suggested for real-time estimation of its consequent local parameters. The parameters update law is derived based on linear parameterization. In order to compensate for the effects resulting from estimation error and disturbance, a robust switching law is incorporated in the overall stable adaptive control system. Extensive computer simulation results show that the proposed stable adaptive fuzzy control system has very good performances, and is potential for precision positioning and trajectory tracking control of linear drive systems.