考虑LuGre 摩擦的伺服系统自适应模糊控制

针对摩擦非线性的存在会使伺服系统控制精度难以提高的问题，建立了考虑动态LuGre摩擦的伺服系统数学模型，在系统参数和负载转矩未知的情况下设计了自适应模糊控制器，用自适应模糊逻辑系统在线逼近包含LuGre摩擦在内的非线性环节，从而实现了伺服系统高精度的位置跟踪。利用Lyapunov函数证明了闭环系统的稳定性。仿真结果表明，该控制器能有效地补偿摩擦非线性的影响，并对负载转矩变化具有较强的鲁棒性。

Adaptive fuzzy control for the servo system with LuGre friction

The servo system control precision is difficult to improve because of the presence of nonlinear friction. Therefore,
the servo system model with the dynamic LuGre friction is established. The adaptive fuzzy controller is designed in the case
of unknown system parameters and load torque. The adaptive fuzzy logic system is used to approximate the nonlinear part
including LuGre friction to achieve high-precision position tracking. It can be ensured theoretically by Lyapunov function
that the closed-loop system is stable. Simulation results show that the controller can compensate the influence of nonlinear
friction, and be robust for the load torque change.