Title :
Backstepping adaptive control of dual-motor driving servo system with backlash nonlinearity
Author_Institution :
Eng. Technol. Res. Center of Optoelectron. Appliance, Tongling, China
Abstract :
Aiming at the control problem of the dual-motor driving servo system with unknown backlash, I proposed the model of system. I designed an adaptive controller with state feedback and analyzed its stability by introducing virtual control quantity, using backstepping approach and recursively selecting Lyapunov function. The results of simulation show that the proposed control strategy don´t need to know the uncertainty of internal parameter of system and improves system position tracking performance and robustness, compared with conventional PID control.
Keywords :
Lyapunov methods; adaptive control; control nonlinearities; control system synthesis; mechanical variables control; robust control; servomechanisms; backstepping adaptive controller design; control strategy; dual-motor driving servo system control problem; recursive Lyapunov function selection; robustness; stability analysis; state feedback; system position tracking performance; unknown backlash; virtual control quantity; Adaptive systems; Backstepping; PD control; Process control; Servomotors; Torque; Wheels; adaptive control; backlash nonlinearity; backstepping control; dual-motor driving;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2013 Fourth International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-6248-1
DOI :
10.1109/ICICIP.2013.6568155
