Adaptive Backstepping Control of Dual-Motor Driving Servo Systems with Friction

被引：6
|
作者：
Zhang, Yu [1 ]
Ren, Xuemei [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
2014 SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL 1 | 2014年
关键词：
friction compensation; backstepping control; adaptive control; dual-motor driving; COMPENSATION;
D O I：
10.1109/IHMSC.2014.60
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：214 / 217
页数：4
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