Abstract: Modeling and control compensation of friction force is a challenging task for mechanical systems with uncertain friction. The traditional way, such as mathematical approaches, is found quite difficult to achieve satisfactory performances due to some nonlinearity and uncertainties of the system. In view of the defects and lack of self-learning ability and environmental adaptability of conventional friction models. It aims to develop adaptive fuzzy modeling techniques to characterize the friction dynamics, which can then be employed in a feed-forward compensation control, where both the tracking error and the friction modeling error are utilized to adjust adaptive parameters. An adaptive version of the fuzzy feed-forward compensation control law is employed in the control system. A theoretical result on estimates of error bounds for closed-loop systems is established by the Lyapunov stability theory. Simulation and experiment results demonstrate the usefulness and effectiveness of our proposed control strategy.

Key words: Adaptive, Fuzzy modeling, Robust control, Uncertain friction