Adaptive inverse compensation for actuator backlash with piecewise time-varying parameters

• Main Authors: Lai, Guanyu, Wen, Changyun, Liu, Zhi, Zhang, Yun, Chen, Philip C. L., Xie, Shengli
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Adaptive Control; Uncertain Nonlinear Systems
• Online Access: https://hdl.handle.net/10356/142700
• Institution: Nanyang Technological University

Existing adaptive inverse compensation methods for cancelling actuator backlash nonlinearity are all restricted to handle constant backlash parameters. In other words, when discontinuity and time variation as both ubiquitous phenomena in practical actuators exist, such inverse compensation methods a...