Adaptive stick-slip friction and backlash compensation using dynamic fuzzy logic system

A dynamic fuzzy logic-based adaptive algorithm is proposed for reducing the effect of stick-slip friction and for the compensation of backlash. The control scheme proposed is an online identification and indirect adaptive control, in which the control input is adjusted adaptively to compensate the effect of these non-linearities. A tuning algorithm for fuzzy logic parameters is used to ensure stable performance. The efficacy of the proposed algorithm is verified on a one degree of freedom (1-DOF) mechanical mass system with stick-slip friction and on a one-link robot manipulator with backlash.