{"title":"Backlash compensation in nonlinear systems using dynamic inversion by neural networks","authors":"R. Selmic, F. L. Lewis","doi":"10.1109/CCA.1999.801137","DOIUrl":null,"url":null,"abstract":"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 pre-inverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"303 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"59","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1999.801137","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 59
Abstract
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 pre-inverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.
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