Authors:
Kuo-Ming Chang
1
;
Yung-Tien Liu
2
and
Sheng-Jung Hsieh
1
Affiliations:
1
National Kaohsiung University of Applied Sciences, Taiwan
;
2
National Kaohsiung First University of Science and Technology, Taiwan
Keyword(s):
Fuzzy Control, Friction, Position Control, Pneumatic Positioning System.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Information-Based Models for Control
;
Intelligent Control Systems and Optimization
;
Signal Processing, Sensors, Systems Modeling and Control
;
Soft Computing
Abstract:
In this paper, a fuzzy control with friction compensation is developed to deal with a nonlinear pneumatic positioning system characterized with friction, unknown system model, and external disturbance. In order to enhance the positioning accuracy, a control scheme is designed for compensating the friction effect of the moving stage. Positioning experiments based on the derived control strategy were performed to show and validate the proposed control performance. As two experimental examples of positioning results in a total of 30 experimental trials for the stepwise input positioning controls, the positioning accuracy with less than 30nm was verified for both forward and backward actuations with step commands. Hence, the control scheme provided in this paper that could significantly improve the positioning performance of a traditional pneumatic positioning system is demonstrated.