Rastko R Selmic

Title: Rastko R Selmic: Innovator in Backlash Compensation Technologies

Introduction

Rastko R Selmic is a prominent inventor based in Dallas, TX (US). He has made significant contributions to the field of control systems, particularly in the area of backlash compensation using neural networks. His innovative approach has garnered attention for its practical applications and efficiency.

Latest Patents

Rastko R Selmic holds a patent for "Backlash compensation using neural network - Methods and systems for backlash compensation." This patent addresses the challenges associated with backlash nonlinearity without requiring restrictive assumptions. The compensator scheme features a dynamic inversion structure, utilizing a neural network in the feedforward path to approximate the backlash inversion error along with the necessary filter dynamics for backstepping design. Notably, the neural network controller does not require preliminary off-line training, and its tuning is based on a modified Hebbian tuning law, which is computationally less intensive than backpropagation. The backstepping controller employs a practical filtered derivative, enhancing the performance of nonlinear systems with backlash. Rigorous stability proofs are provided using Lyapunov theory, and simulation results demonstrate the effectiveness of the proposed compensation scheme in improving tracking performance.

Career Highlights

Rastko R Selmic is affiliated with the University of Texas System, where he continues to advance research in control systems and neural networks. His work has positioned him as a key figure in the development of innovative solutions for complex engineering problems.

Collaborations

Throughout his career, Rastko has collaborated with esteemed colleagues such as Frank L Lewis and Anthony J Calise. These partnerships have contributed to the advancement of knowledge and technology in their respective fields.

Conclusion

Rastko R Selmic's contributions to backlash compensation technologies highlight his innovative spirit and dedication to improving control systems. His work continues to influence the field and inspire future advancements.