中文摘要：

以具有可控界面弹性变形的柔性滤波驱动机构为研究对象，考虑柔性变形、摩擦和传动误差等非线性因素的影响，建立了基于LuGre摩擦模型的系统数学模型。利用模糊逻辑在线逼近系统中的未知参数与非线性项，通过逐步引入一阶滤波器设计了虚拟控制量，构建了自适应动态面模糊控制器。利用Lyapunov理论证明系统所有闭环信号半全局一致有界。与传统PID做比较，仿真实验结果表明所提出的控制策略抑制摩擦等非线性项的干扰，提高了系统的跟踪精度与鲁棒性。

英文摘要：

Aiming at the flexible filter driving mechanism with controllable interface elastic deformation, and consid-ering the influences of nonlinear factors such as the flexible deformation, friction and transmission error, the mathe-matical model of the system was established based on the LuGre friction model. The fuzzy logic control （ FLC） was employed to approximate the unknown parameters and nonlinear items of the system on-line, and an adaptive dynamic surface control （ DSC） fuzzy controller was constructed through introducing the first-order filter step by step for the design of the virtual control variable. The Lyapunov theory proved the semi-global uniformly ultimate boundness of all the closed-loop signals of the system. Compared with the traditional PID, the simulated results show that the proposed strategy suppresses the nonlinear disturbance such as friction, and has good tracking accuracy and robustness.