Backlash Compensation using Backstepping Adaptive Control in Servo Transmission System

This paper proposes a novel control strategy to improve the positioning accuracy of the dual-mass systems with the backstepping adaptive method. Firstly, based on the identified amplitude, a dead-zone model of backlash is established. Then, a state feedback based backstepping adaptive controller is designed to compensate for the adverse effects of the backlash. The tracking differential in ADRC control is incorporated into the method to obtain the desired differential value. The proposed method can suppress the influence of backlash on servo performance, whilst the tracking accuracy is improved. Finally, experimental results validate the effectiveness of the proposed method.