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Adaptive robust control for dual-motor synchronous servo system based on backstepping


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Adaptive robust control for dual-motor synchronous servo system based on backstepping
Li Pingping1Yuan Xinxing2Wang Feng2Yu Bin3Guo Jian24
1.College of Mechanical Engineering,Nanjing Institute of Industry Technology, Nanjing 210046,China; 2.School of Automation,NUST,Nanjing 210094,China; 3.The North Electro-Optics Group Company,Xi'an 710043,China; 4.The State Key Laboratory of Fluid Power a
backstepping dual-motor servo system adaptive robust control backlash biased-torque
The control of servo systems with unknown backlash is proposed.An adaptive robust control is designed based on backstepping for the system,by using two motors synchronously driving the system to eliminate the effect of backlash,in which biased-torque is added to each motor and with unknown system parameters,unmodelling dynamics and disturbance.The proposed control consists of three parts:adaptive compensation based on parameter estimation online,stable feedback,robust control.By choosing an appropriate Lyapunov function at each step,the adaptive robust control based on backstepping ensures the system signals bounded and the tracking error of the system can be kept in any desired precision.The effectiveness of the control is proved theoretically and by simulation.


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Last Update: 2014-12-31