Robustness of adaptive motion control against fuzzy approximation of LuGre multi-source friction model

Abstract

A new modeling technique leading to a simple and reliable dynamic model of multi-source friction is used together with adaptive control algorithm. The model is applied in the electric linear drive system. We give detailed information about preparing the proposed model and the control algorithm. We also investigate effects of the fuzzy model’s complexity on the system performance. The presented experiments prove the usefulness of the proposed approach.