Backlash Compensation in Nonlinear Systems Using Dynamic Inversion by Neural Networks
نویسندگان
چکیده
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.
منابع مشابه
Backlash Compensation in Nonlinear Systems by Dynamic Inversion Using Neural Networks: Continuous and Discrete Time Approaches
Two different dynamic inversion compensation schemes for control of nonlinear system with input backlash are presented; one in continuous time and one in discrete time. Both schemes use 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 dynamics preinverse ...
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