Skip to main content
Springer Nature Link
Log in

Robustness of Adaptive Motion Control Against Fuzzy Approximation of LuGre Multi-Source Friction Model

  • Conference paper
  • First Online:
Trends in Advanced Intelligent Control, Optimization and Automation (KKA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 577))

Included in the following conference series:

  • 3157 Accesses

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  • 1. Canudas deWit C, Lischinsky P (1997) Adaptive friction compensation with partially known dynamic friction model, Int. J. Adapt. Control Signal Process., vol. 11, no. 1, pp. 65–80

    Google Scholar 

  • 2. Åström K J, Canudas de Wit C (2008) Revisiting the LuGre friction model. Stick-slip motion and rate dependence, IEEE Control Syst. Mag., vol. 28, no. 6, pp. 101–114

    Google Scholar 

  • 3. Kabziński J, Jastrzębski M (2015) Fuzzy modeling of complex, multi-source, dynamic friction, XXV International Conference on Information, Communication and Automation Technologies (ICAT), Sarajevo

    Google Scholar 

  • 4. Kabziński J, Jastrzebski M (2015) Fuzzy modeling of LuGre-type friction, CYBCONF 2015: 2nd IEEE International Conference on Cybernetics, Gdynia

    Google Scholar 

  • 5. Kabzinski J, Jastrzebski M (2014) Practical implementation of adaptive friction compensation based on partially identified LuGre model, 19th International Conference On Methods and Models in Automation and Robotics (MMAR), pp.699-704

    Google Scholar 

  • 6. Armstrong-Helouvry B (1991) Control of Machines with Friction. Kluwer Academic Publishers, Boston

    Google Scholar 

  • 7. Kabzinski J (2012) Fuzzy friction modeling for adaptive control of mechatronic systems, Artificial Intelligence Applications and Innovations, IFIP Advances in Information and Communication Technology, vol. 381, pp.185-195, Springer Berlin Heidelberg

    Google Scholar 

  • 8. Jang, J-S R (1993) ANFIS: Adaptive-Network-based Fuzzy Inference Systems, IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23, No. 3, pp. 665-685

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Automatic Control, University Lodz of Technology, Stefanowskiego 18/22, 90-924, Lodz, Poland

    Marcin Jastrzębski & Jacek Kabziński

Authors
  1. Marcin Jastrzębski
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jacek Kabziński
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Marcin Jastrzębski .

Editor information

Editors and Affiliations

  1. Department of Automatics and Biomedical Engineering, AGH University of Science and Technology , Kraków, Poland

    Wojciech Mitkowski

  2. Systems Research Institute, Polish Academy of Sciences, Warszawa, Poland

    Janusz Kacprzyk

  3. Department of Automatics and Biomedical Engineering , AGH University of Science and Technology , Kraków, Poland

    Krzysztof Oprzędkiewicz

  4. Department of Automatics and Biomedical Engineering , AGH University of Science and Technology , Kraków, Poland

    Paweł Skruch

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Jastrzębski, M., Kabziński, J. (2017). Robustness of Adaptive Motion Control Against Fuzzy Approximation of LuGre Multi-Source Friction Model. In: Mitkowski, W., Kacprzyk, J., Oprzędkiewicz, K., Skruch, P. (eds) Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-319-60699-6_38

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-60699-6_38

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60698-9

  • Online ISBN: 978-3-319-60699-6

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics