Backlash compensation in nonlinear systems using dynamic inversion by neural networks

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 pre-inverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.