Estimation of backlash phenomenon in the electromechanical actuator

In this paper an adaptive control is developed, based on an estimation of the disturbing torque transmitted inside the dead zone of an electromechanical system. Disturbing backlash torque is modelled by a continuous and derivable mathematical function describing an opposite of sigmoid function. Then, nonlinear observer of dead zone amplitude is synthesized. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical demonstrations.