Stick-slip friction compensation for mechatronic servo systems

An artificial neural network compensator for stick-slip friction phenomena is newly proposed to supplement the traditional position and velocity control loops for precise motion control. The neural network compensator plays the role of canceling the effect of nonlinear slipping friction force. It works robustly and effectively in real control system. This enables the mechatronics servo systems to provide more precise control in the digital computer. It was confirmed that the control accuracy is more improved near zero velocity through numerical simulation. Instead, the steady state error of the normal operating points is guaranteed by the integral term of velocity loop controller.