A SELF-ORGANIZING FUZZY LOGIC CONTROL FOR FRICTION COMPENSATION IN FEED DRIVES - American Control Conference, Proceedings of the 1995

This paper introduces a new friction compensation strategy which utilizes a rule-based fuzzy logic controller whose parameters are self-tuned according to the previous performance of the controller and a friction model in the lowvelocity range. The proposed controller as well as a conventional fuzzy logic controller and a PID controller were simulated and implemented on a 3-axis milling machine for contour milling. The simulations and experiments show that the proposed self-organizing fuzzy logic controller has superior performance in terms of the contour accuracy compared with the other two controllers.