Design of fuzzy compensator for compensate the backlash effect

백래쉬 현상의 보상을 위한 퍼지 보상기 설계

In rotating systems, backlash imposed limitations on the quality of control. System with gear is an example where this is a well-known limitation. In order to increase the controller performance, we design a fuzzy system to compensate the backlash effect. We prove that under certain conditions the fuzzy compensator guarantees that the backlash output converges to the desired trajectory. Simulation results show that the fuzzy compensator is robust to the backlash parameter.