기어의 백래쉬 보상을 위한 퍼지보상기 설계

초록

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 delay. 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.