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Backlash compensation using neural network

  • US 6,611,823 B1
  • Filed: 04/20/2000
  • Issued: 08/26/2003
  • Est. Priority Date: 04/20/2000
  • Status: Expired due to Fees
First Claim
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1. An adaptive neural network compensator for compensating backlash of a mechanical system, comprising:

  • a feedforward path;

    a proportional derivative tracking loop comprising a proportional derivative path in the feedforward path;

    a filter in the feedforward path, the filter configured to take a filtered derivative of a tracking error signal of the compensator to determine a filtered tracking error signal; and

    a neural network in the feedforward path and coupled to the filter, the neural network configured to compensate the backlash by estimating an inverse of the backlash and applying the inverse to an input of the mechanical system.

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