The feedforward control of mechatronic system with backlash

The backlash is one of the most important nonlinearities that affect the performances of the mechanical manipulators control. When backlash occurs in a system, the stability and the performance can change which produces an inaccuracy or an uncontrollability of the mechanism. In this study, a feedforward control is developed in order to anticipate the disturbing torque transmitted inside the dead zone of an electromechanical system. Bond graph modeling is a suitable tool to represent the model structures motivated by the multi-energy domain of such processes along with their control mechatronic systems. Simulation results applied to electromechanical actuator are given to illustrate the theoretical demonstrations.