Abstract
In this paper, a novel adaptive tracking control method is proposed for the dual-motor driving system (DDS) with parameter uncertainties and external disturbances. The DDS is a multi-variable, nonlinear and strong-coupling system which increases the difficulty of the controller design. To handle this problem, a set of alternative state variables is introduced to transform the DDS into a strict feedback form. Based on the transformed system, an adaptive controller is constructed by integrating the H \( \infty \) technique into the dynamic surface control to guarantee that the output tracking error satisfies the H \( \infty \) performance. More importantly, the designed controller cannot only attenuate the influences of external disturbances on the system output, but also have a strong robustness for system parameter variations. Simulation results are conducted to validate the effectiveness of the proposed method.
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© 2016 Springer Science+Business Media Singapore
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Wang, M., Ren, X. (2016). Adaptive Dynamic Surface Control for Dual-Motor Driving System with H∞ Performance. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 404. Springer, Singapore. https://doi.org/10.1007/978-981-10-2338-5_33
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DOI: https://doi.org/10.1007/978-981-10-2338-5_33
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Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2337-8
Online ISBN: 978-981-10-2338-5
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