{'fraction_non_alphanumeric': 0.011220196353436185, 'fraction_numerical': 0.0, 'mean_word_length': 4.95, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Compensating modeling and control for friction using adaptive fuzzy system

This paper presents an application of an adaptive fuzzy system for compensating the effects induced by friction in a mechanical system. An adaptive fuzzy system based on fuzzy basis functions is employed, and a bound on the tracking error is derived from analysis of the tracking error dynamics. The hybrid controller is a combination of a PD controller and an adaptive fuzzy controller which compensates for nonlinear friction. The proposed scheme is tested on a single link robot control system. The algorithm and simulations results are described. The results are relevant for many precision drives, such as those found in a DC motor.