Abstract
Adaptive backstepping control is an effective method for servo system driven by twin motors with unknown actuator failures, however, problems such as explosion of complexity make it can not be used in the actual control systems. In this paper, an algorithm of adaptive dynamic surface control is proposed for servo system driven by twin motors with unknown actuator failures, which can eliminate the expansion of the differential term and simplify calculations in the controller design. In addition, all parameters and disturbances in the system model are unknown, which require to be identified online. The simulation results also provided in order to show the effectiveness of the algorithm.
Highlights
Nowadays, servo system has been widely used in industrial production, and various of research on high precision servo system control has been proposed
To improve the performance of control system, we should consider the influence of unknown actuator failures in the design of adaptive control scheme
Of the aforementioned reasons, we proposed an adaptive dynamic surface controller for the servo system driven by twin motors with unknown actuator failures
Summary
Servo system has been widely used in industrial production, and various of research on high precision servo system control has been proposed. Of the aforementioned reasons, we proposed an adaptive dynamic surface controller for the servo system driven by twin motors with unknown actuator failures. An adaptive dynamic surface controller for the servo system driven by twin motors with unknown actuator failures has been proposed. The main contributions of this paper are provided as follows: (1) The control problem is investigated for servo system with unknown system parameters and unknown disturbances driven by twin motors instead of traditional single motor; (2) The effect caused by unknown actuator failures are considered during the controller design; (3) Based on [18], Dynamic Surface Control (DSC) is introduced to solve ‘‘explosion of complexity’’ problem in the traditional backstepping control scheme.
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