MODELING OF THE BACKLASH HYSTERESIS NONLINEARITY

In this paper, the backlash hysteresis nonlinearity is examined, and a mathematical model based on the particular behavior of the backlash i s developed A geometrical interpretation of this model using switching operators is provided to facilitate an understanding of it. Simulatio n of output prediction of the backlash mechanism using an arbitrary in put signal is performed to verify the correctness of the developed mod el. A linearization scheme based on the model is also developed to com pensate for the backlash nonlinearity. The scheme was applied for trac king an arbitrary signal similar to that used in the modeling. The res ults show that our model-based linearization scheme although running i n an open loop fashion, provides a simpler way to perform tracking con trol for structures with backlash hysteresis nonlinearity.