Global Asmptotic Stability for Systems with Friction and Input Backlash

Real-time enhancement of tracking performances for cable-conduit mechanisms-driven flexible robots

“…For the design of backlash compensators, Su et al [24] and Ahmad et al [25] indicated that the backlash model given in Tao et al [26,27] is not suitable for system control as the backlash function is discontinuous. In the approach of tendon-sheath control, Agrawal et al [28] used a smooth inverse of backlash hysteresis model to compensate for the position error.…”