By H. Martinez-Alfaro
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As shown in Fig. 10, the FLC has two input variables, the tracking error of the yaw rate e and the difference of the error de . They are defined as, at the kth sampling time e( k ) z ( k ) ze ( k ) de( k ) e( k ) e( k 1) (54) (55) The output variable of the FLC is defined as the corrective yaw moment M zc . To determine the fuzzy controller output for the given error and its difference, the decision matrix of the linguistic control rules is designed and presented in Table 2. These rules are determined based on expert knowledge and a large number of simulation results performed in the study.
Stiction friction is defined as the force (torque) requires to initiate motion from rest, and is generally greater than the Coulomb (Kinetic) friction. Friction was then seen to depend not only on velocity but magnitude and rate of the external force. This resulted in a complete Artificial Intelligent Based Friction Modelling and Compensation in Motion Control System 47 model of static friction as shown in Figure 2(c). However, Stribeck (1902) observed a decreasing friction with increasing velocity at low velocity during the transition from stiction to kinetic friction and he proposed the concept of Stribeck friction shown in Figure 2(d).
To determine the fuzzy controller output for the given error and its difference, the decision matrix of the linguistic control rules is designed and presented in Table 2. These rules are determined based on expert knowledge and a large number of simulation results performed in the study. In designing the FLC, the scaling factors ke and kde have great effects on the performance of the controller. Therefore the adaptive mechanism is applied to adjust the parameters in order to achieve a satisfactory control performance when there are changes in the vehicle operating conditions or in the environment.