A new adaptive control of dual-motor driving servo system with backlash nonlinearity
In order to weaken the influence of backlash nonlinearity on a dual-motor driving servo system, we first establish the state-space model of the system. We then propose a new adaptive controller combining a projection algorithm with backstepping control for the first time, to the best of our knowledge, and analyze its stability. In the simulation analysis, we respectively choose a triangular wave, sawtooth wave, and random signal as the input signal. Simulation results validate a higher tracking accuracy and stronger adaptability of the proposed control law than that of mere backstepping control. In the experimental tests, we respectively choose a step signal and sine signal and simultaneously apply a white noise signal to the system output after 3 s in each test. The test results validate a stronger adaptability and robustness than that of mere backstepping control.
KeywordsAdaptive control backstepping control dual-motor driving projection algorithm backlash nonlinearity
This work was supported by the National Natural Science Foundation of China (Grant No. 61074023), the Natural Science Foundation in Anhui Province of China (Grant No. 1508085MF130), the Natural Science Research Key Project of Universities in Anhui Province of China (Grant No. KJ2015A297), the Engineering Technology Research Center of Optoelectronic Appliance of Anhui Province, China, and the Sichuan Institute of Aerospace System Engineering of Sichuan Province, China.
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