Backlash compensation of systems using fuzzy logic

A backlash compensator is designed for systems using the fuzzy logic. The classification property of fuzzy logic systems makes them a natural candidate for the rejection of errors induced by the backlash, which has regions in which it behaves differently. A tuning algorithm is given for the fuzzy lo...

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Bibliographic Details
Main Authors: Jun Oh Jang, Pyeong Gi Lee, Sang Bae Park, In Seok Ahn
Format: Conference Proceeding
Language:English
Subjects:
Computer errors
Control engineering
Control engineering computing
Control systems
Estimation error
Fuzzy logic
Mathematical model
Parameter estimation
Stability
Throughput
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Description
Summary:A backlash compensator is designed for systems using the fuzzy logic. The classification property of fuzzy logic systems makes them a natural candidate for the rejection of errors induced by the backlash, which has regions in which it behaves differently. A tuning algorithm is given for the fuzzy logic parameters, so that the backlash compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic backlash compensator is simulated on a system to show its efficacy.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2001.945739