Title :
Backlash compensation of systems using fuzzy logic
Author :
Jang, Jun Oh ; Lee, Pyeong Gi ; Park, Sang Bae ; Ahn, In Seok
Author_Institution :
Dept. of Comput. Control Eng., Uiduk Univ., South Korea
Abstract :
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
Keywords :
adaptive control; compensation; fuzzy control; fuzzy logic; nonlinear systems; parameter estimation; robust control; tracking; adaptive fuzzy logic; backlash compensation; nonlinear systems; parameter estimation; robust control; stability; tracking; Computer errors; Control engineering; Control engineering computing; Control systems; Estimation error; Fuzzy logic; Mathematical model; Parameter estimation; Stability; Throughput;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945739
