| Title |
A Study on the Intelligent Position Control System Using Sliding Mode and Friction Observer |
| Authors |
한성익(Han, Seong-Ik) ; 이영진(Lee, Yong-Jin) ; 이권순(Lee, Kwon-Soon) ; 남현도(Nam, Hyun-Do) |
| Keywords |
Sliding Mode Control ; Dynamic Friction ; Friction Estimator ; Recurrent Fuzzy Neural Network |
| Abstract |
A robust positioning control system has been studied using a friction parameter observer and a recurrent fuzzy neural network based on the sliding model. To estimate a nonlinear friction parameters of the LuGre friction model, a dual friction model-based observer is introduced. In addition, an approximating method for a system uncertainty has been developed using a recurrent fuzzy neural network technique to improve positioning performance. Experimental results have been presented to validate the performance of a proposed intelligent compensation scheme. |