Fuzzy Sliding Mode Adaptive Control of Dual-Motor Driving Servo System

Abstract

Backlash nonlinearity exists in dual-motor driving servo system, in order to weaken the adverse effects of backlash nonlinearity on the system, we first described the system model. Then we designed a multiple sliding surfaces-based fuzzy sliding mode adaptive controller combining a fuzzy approximation algorithm with sliding mode control, which we believe to be the first time for dual-motor driving servo system, and analyzed its stability. We adopted a Nussbaum function to compensate the uncertainty in the system and employed a fuzzy approximation system to approximate the unknown nonlinearity in the controller. Finally, simulation results show that fuzzy sliding mode adaptive control has not only better dynamic and steady-state performance, but also better robustness than single fuzzy control, validating the effectiveness of the proposed control algorithm.