Two different dynamic inversion compensation schemes for control of nonlinear system with input backlash are presented; one in continuous time and one in discrete time. Both schemes use 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 dynamics preinverse ...

According to the structure and drive principle of the precision ball transmission, an innovative structure of weak rigidity combination planetary disc which set planetary motion and clearance adjustment function as a whole was proposed. The performance requirements of the key connection pair in weak rigidity combination planetary disc were analyzed. A structure connected by pins was designed. T...

Adherence to masculine norms and stereotypes has been linked to negative consequences for men, suggesting that liberating men from the bonds of traditional masculinity would be beneficial (Courtenay, 2000; Pollack, 1998). However, when people deviate from stereotypic expectations, they encounter backlash (i.e., social and economic penalties; Rudman & Phelan, 2008). The current research demonstr...

Backlash, also known as mechanical play, is a piecewise differentiable nonlinearity which exists in several actuated systems, comprising, e.g., rack-and-pinion drives, shaft couplings, toothed gears, and other elements. Generally, the backlash is nested between the moving elements of a complex dynamic system, which handicaps its proper detection and identification. A classical example is the tw...

A dynamics inversion compensation scheme is designed for control of nonlinear discrete-time systems with input backlash. The compensator uses 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 dynamics preinverse of an invertible discrete time dynamical system....

In rotating systems, backlash imposes limitations on the quality of control. Automotive powertrains is an example where this is a well-known limitation. In order to increase the controller performance, knowledge of the backlash properties (size and current position) is needed. In this paper, nonlinear estimators for backlash size and position are described, both based on Kalman filtering theory...

A backlash compensator is designed for nonlinear 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...

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 preinverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator ...

The tendon sheath mechanism plays an important role in many robotic systems from surgical devices to robot hands. However, many unexpected properties such as nonlinear hysteresis and backlash, which appear in the tendon sheath system, cause major losses in force transmission. This report deals with the characterization of hysteresis phenomenon, which is attributed to the presence of frictional ...