We discuss several fuzzy models to approximate friction and other disturbances in mechatronic systems, especially linear and rotarional electrical drives. Some methods of experimental identification of disturbance forces are presented. We consider several fuzzy models to compromise between model accuracy and complexity. Fuzzy model is used in an adaptive control loop. Several adaptive control algorithms are discussed and the influence of fuzzy model accuracy on the system performance is investigated.


fuzzy modeling adaptive control motion control friction compensation 


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Copyright information

© IFIP International Federation for Information Processing 2012

Authors and Affiliations

  • Jacek Kabziński
    • 1
  1. 1.Institute of Automatic ControlTechnical University of LodzPoland

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