Backlash compensation in servo systems based on adaptive Backstepping-control
基于反步自适应控制的伺服系统齿隙补偿

Backlash is one of the main factors causing deterioration in the overall performance of servo systems. To compensate the influence of backlash on the system, we proposed an adaptive Backstepping-control. The control laws based on state feedback are developed with Backstepping approach for selecting the appropriate Lyapunov function. The analysis and simulation results show that the proposed method greatly compensates the effects of backlash and improves the system tracking accuracy and robustness, in comparison with traditional PID control laws.