Abstract
This paper describes a novel approach to very accurate po .• itioning control of mechanical devices with nonlinear (stick-slip) friction. The controller applies narrow torque pulses to achieve a desired displac ement of a mechanism. The torque pulses are computed through fuzzy logic approx imation of the dependence between the desired displace ment and the torque puls e shapes. The stab il ity conditions of the proposed controller are derived taking into account influence of the random variation of the fri ction proper ties. It is experime ntally demonstrated that the developed controller is capable of positioning the mechanism up to the limits of the position encoder resolution.
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