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BACKLASH COMPENSATION IN NONLINEAR SYSTEMS USING DYNAMIC INVERSION BY NEURAL NETWORKS
Author(s) -
Selmic Rastko R.,
Lewis Frank L.
Publication year - 2000
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2000.tb00147.x
Subject(s) - backlash , nonlinear system , artificial neural network , control theory (sociology) , inversion (geology) , compensation (psychology) , computer science , control engineering , artificial intelligence , engineering , psychology , control (management) , geology , physics , seismology , social psychology , tectonics , quantum mechanics
A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic preinverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed‐loop system.