Deadzone Compensation of an<tex>$XY$</tex>-Positioning Table Using Fuzzy Logic

A deadzone compensator is designed for an XY-positioning table using fuzzy logic. The classification property of fuzzy-logic systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the fuzzy-logic parameters, so that the deadzone-compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded-parameter estimates. Formal nonlinear-stability proofs are given to show that the tracking error is small. The fuzzy-logic deadzone compensator is implemented on an XY-positioning table to show its efficacy.