Integral Sliding Mode Control Based on Command Filtering Backstepping for Dual-motor Servo Systems with Torque Disturbance

In order to mitigate the influence of the torque disturbance and improve the tracking performance of the dual-motor servo system, this paper designs a controller by combining adaptive command filtering backstepping (CFB) and integral sliding mode control (ISMC). First of all, CFB is utilized to overcome the “explosion of complexity” problem from the traditional backstepping method. And the error compensation mechanism is designed for reducing the filtering errors. Meanwhile, the integral items are designed in the sliding mode surfaces which are novel functions of compensated tracking errors for suppressing the steady-state error, improving the tracking precision. The signum functions are replaced by the saturation functions in switching control laws, which reduces the chattering phenomenon. In addition, synchronization feedback signals are designed in the virtual control laws to ensure the synchronization performance between two motors. The total actual control law is derived, and the system stability as well as state convergence is proved by employing Lyapunov theory. In the end, the simulation research is carried out and the results show the advantage of the proposed control strategy.