Abstract
In this paper a new fuzzy logic controller capable of performing precise positioning of mechanisms with nonlinear (stick-slip) friction is proposed. The controller is a deadbeat sample-data controller that uses short rectangular torque pulses to further reduce or eliminate steady-state position error generated by conventional position controllers. It uses a fuzzy logic model of the system response to rectangular torque pulses to calculate a pulse which is sent to mechanism's actuator in order to move the mechanism to a desired position. It was experimentally demonstrated that the developed controller is capable of accurately positioning a direct-drive mechanism up to the limit of the position encoder resolution.
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Popović, M.R., Gorinevsky, D.M., Goldenberg, A.A. (1997). Accurate positioning of devices with nonlinear friction using fuzzy logic pulse controller. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035223
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DOI: https://doi.org/10.1007/BFb0035223
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