Adaptive Nonlinear PID Control and Rule-Based Compensation for Systems with Backlash

The control of dynamic nonlinear systems with unknown backlash was considered. By using an efficient approach to estimate the unknown backlash parameters, a rule-based backlash compensator was presented for canceling the effect of backlash. Adaptive nonlinear PID controller together with rule-based backlash compensator was developed and a satisfactory tracking performance was achieved. Simulation results demonstrated the effectiveness of the proposed method.