Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Nonlinearity

被引：0
|
作者：
Zhao, Haibo [1 ]
机构：
[1] Engn Technol Res Ctr Optoelect Appliance, Tongling 244000, Anhui, Peoples R China
来源：
PROCEEDINGS OF THE 2013 FOURTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP) | 2013年
关键词：
backstepping control; adaptive control; dual-motor driving; backlash nonlinearity; TRACKING;
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：
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.
引用
收藏
页码：655 / 660
页数：6
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