On the control algorithm of nonlinear systems with backlash

This paper analyzes the ball and plate system servo control links hysteresis characteristics, inverse model compensation hysteresis nonlinear servo control part. To overcome the disadvantages of external interference or other factors cause the inverse model parameters, and hysteresis of the nonlinear model parameters do not match, designing the gradient projection adaptive law online up-date inverse model parameters. Simulation and experimental results show that the designed compensation control algorithm weakened the hysteresis nonlinearity for servo control to improve the control accuracy of ball and plate system.