Fuzzy Sliding Mode Adaptive Control of Dual-Motor Driving Servo System

被引：0
|
作者：
Zhao, Haibo [1 ]
Wang, Chengguang [2 ]
机构：
[1] Tongling Univ, Engn Technol Res Ctr Optoelect Appliance, Tong City, Peoples R China
[2] Sichuan Acad Aerosp Technol, Sichuan Inst Aerosp Syst Engn, Chengdu, Sichuan, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ROBOTICS AND AUTOMATION (ICMRA) | 2018年
基金：
中国国家自然科学基金;
关键词：
backlash nonlinearity; dual-motor driving; fuzzy approximation; sliding mode control; robustness; NONLINEAR-SYSTEMS; BACKLASH; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Backlash nonlinearity exists in dual-motor driving servo system, in order to weaken the adverse effects of backlash nonlinearity on the system, we first described the system model. Then we designed a multiple sliding surfaces-based fuzzy sliding mode adaptive controller combining a fuzzy approximation algorithm with sliding mode control, which we believe to be the first time for dual-motor driving servo system, and analyzed its stability. We adopted a Nussbaum function to compensate the uncertainty in the system and employed a fuzzy approximation system to approximate the unknown nonlinearity in the controller. Finally, simulation results show that fuzzy sliding mode adaptive control has not only better dynamic and steady-state performance, but also better robustness than single fuzzy control, validating the effectiveness of the proposed control algorithm.
引用
收藏
页码：52 / 55
页数：4
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