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Improved Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Based on Fuzzy Parameter Approximation

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.