Title :
Adaptive Backstepping Control of Dual-Motor Driving Servo Systems with Friction
Author :
Yu Zhang ; Xuemei Ren
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper presents a new compensation technique for friction that utilizes a backstepping control structure and an adaptive estimation of the friction force based on an observer for the class of dual-motor driving system. The adaptive dual-state observer is developed to estimate the unknown state z of the LuGre friction model. The stability analysis of the system is verified by Lyapunov stability theory. Finally, simulation results show the achievable control performance of the proposed control strategy and the effectiveness of the observer.
Keywords :
Lyapunov methods; adaptive control; adaptive estimation; compensation; drives; friction; machine control; observers; servomotors; stability; LuGre friction model; Lyapunov stability theory; adaptive backstepping control; adaptive dual-state observer; adaptive estimation; backstepping control structure; compensation technique; control performance; dual-motor driving servo system; friction force; stability analysis; unknown state estimation; Adaptation models; Adaptive systems; Backstepping; Friction; Lyapunov methods; Observers; Servomotors; adaptive control; backstepping control; dual-motor driving; friction compensation;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2014 Sixth International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4956-4
DOI :
10.1109/IHMSC.2014.60
