A new adaptive control of dual-motor driving servo system with backlash nonlinearity

In order to weaken the influence of backlash nonlinearity on a dual-motor driving servo system, we first establish the state-space model of the system. We then propose a new adaptive controller combining a projection algorithm with backstepping control for the first time, to the best of our knowledge, and analyze its stability. In the simulation analysis, we respectively choose a triangular wave, sawtooth wave, and random signal as the input signal. Simulation results validate a higher tracking accuracy and stronger adaptability of the proposed control law than that of mere backstepping control. In the experimental tests, we respectively choose a step signal and sine signal and simultaneously apply a white noise signal to the system output after 3 s in each test. The test results validate a stronger adaptability and robustness than that of mere backstepping control.