Seong Ik Han, Chan Se Jeong and Soon Yong Yang*
The Journal of Mechanical Science and Technology, vol. 26, no. 4, pp.1149-1159, 2012

Abstract : A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme.

Keyword : LuGre friction model; Sliding mode control; Recurrent fuzzy neural networks; Adaptive friction estimator; Servo system