Backlash compensation of discrete time systems using fuzzy logic

Author

Jang, Jun Oh ; Chung, Hee Tae ; Lee, In Soo

Author_Institution

Dept. of Comput. Control Eng., Uiduk Univ., Kyongju, South Korea

Volume

4

fYear

2001

fDate

2001

Firstpage

3956

Abstract

A backlash compensator is designed for discrete time systems using 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 discrete time 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 discrete time nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic backlash compensator is simulated on a discrete time system to show its efficacy

Keywords

adaptive control; compensation; discrete time systems; feedforward; function approximation; fuzzy control; nonlinear systems; parameter estimation; stability; tracking; PD tracking loop; adaptive control; backlash compensation; discrete time systems; feedforward loop; function approximation; fuzzy control; fuzzy logic; nonlinear systems; parameter estimation; stability; tuning; Adaptive control; Computer errors; Control engineering computing; Control systems; Discrete time systems; Function approximation; Fuzzy logic; Gears; Hydraulic actuators; Nonlinear dynamical systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980500

Filename

980500