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Backlash compensation in discrete time nonlinear systems using dynamic inversion by neural networks

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3 Author(s)
Campos, J. ; Inst. of Autom. & Robotics Res., Texas Univ., Arlington, TX, USA ; Lewis, F.L. ; Selmic, R.

A dynamics inversion compensation scheme is designed for control of nonlinear discrete-time systems with input 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 dynamics pre-inverse of an invertible discrete time dynamical system. A discrete-time tuning algorithm is given for the NN weights so that the backlash compensation scheme becomes adaptive, guaranteeing bounded tracking and backlash errors, and also bounded parameter estimates. A rigorous proof of stability and performance is given and a simulation example verifies the performance. Unlike standard discrete-time adaptive control techniques, no certainty equivalence assumption is needed

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:2 )

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