Aiming at the control problem of servo system with friction nonlinearity, we\nintroduced the improved LuGre friction model of system. We used adaptive fuzzy system to\napproximate the nonlinear part and unknown parameters in system online. The purpose is to\navoid the complex calculation in deducing the adaptive law of each unknown parameter. By\nusing backstepping approach and recursively selecting the Lyapunov function, introducing the\nvirtual control quantity, we designed an adaptive fuzzy controller with state feedback. Then we\nanalyzed the stability of adaptive fuzzy controller. We carried out the system response analysis\nand system robustness analysis. We used sinusoidal signal as simulation input signal. Two\ncases were considered in simulation test comparing backstepping control with conventional\nPID control. Simulation results show that the proposed backstepping control has better position\ntracking performance and robustness than conventional PID control.
Loading....