Fuzzy position control of motor plant with backlash

In this paper, we design a fuzzy system to compensate the delay due to backlash nonlinearity, the fuzzy compensator is constructed from some common-sense rule. We focuses on the feasibility of fuzzy logic controller (FLC) to stabilize the system with uncertain backlash. We prove that under certain conditions the fuzzy compensator guarantees that the backlash output converges to the desired trajectory. Furthermore, the performance of the proposed controller is compared with that of convention proportional-derivative (PD) controllers. Base on the simulation result, it is found that the proposed controller can be a viable choice due to its robustness against parameter uncertainty.