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 is developed A geometrical interpretation of this model using switching operators is provided to facilitate an understanding of it. Simulation of output prediction of the backlash mechanism using an arbitrary input signal is performed to verify the correctness of the developed model. A linearization scheme based on the model is also developed to compensate for the backlash nonlinearity. The scheme was applied for tracking an arbitrary signal similar to that used in the modeling. The results show that our model-based linearization scheme although running in an open loop fashion, provides a simpler way to perform tracking control for structures with backlash hysteresis nonlinearity.