Abstract
Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, a model for the system is introduced. Two adaptive fuzzy systems were used to approximate the nonlinear part and unknown parameters in system online, to avoid the complex calculation in deducing the adaptive law of each unknown parameter. By using improved backstepping approach and recursively selecting the Lyapunov function, introducing the virtual control quantity and the integration of position tracking error, an adaptive fuzzy controller with state feedback was designed, and its stability was analyzed. System response analysis and system robustness analysis were considered in simulation test for comparing the improved backstepping control with conventional backstepping control. Simulation results show that the improved backstepping control has better position tracking performance and robustness than conventional backstepping control. Finally, experimental analysis also validates the effectiveness and efficiency of the proposed control strategy.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
