Precision motion control for an X-Y table using the LOLIMOT Neuro-Fuzzy Friction compensation

The result of practical implementation of intelligent compensation of friction to achieve precision motion control of X-Y table is presented here. It uses LOLIMOT algorithm to make a Neuro-Fuzzy model that predicts the effect of friction on the system output. This predictor is used with inverse of ideal system model as a friction compensator. Implementation and applying this compensator to the system results mean tracking error reduction for a desired path. Moreover, the disturbances implied by the friction are highly improved.