Neural net backlash compensation with Hebbian tuning using dynamic inversion
The feedback scheme of actuators backlash compensation is presented. The backlash has piecewise continuous dynamic. The controlled plant is modelled by a system of differential equations written in the Brunovsky canonical form. It is assumed that the unknown nonlinear part is estimated by a bounded function. A robust compensation law is synthesized for the control tracking problem. It is shown that such a backstepping controller guarantees uniformly ultimately bounded tracking error. The required unknown backlash dynamic is approximated with the help of a neural net (NN) technique. The tuning differential law for NN weights based on the Hebbian algorithm is presented. Full stability analysis of the closed loop system is carried out. The computer simulation of the proposed scheme was done for the planar motion of a manipulator link controlled by torque and using backlash.
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