Improved Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Based on Fuzzy Parameter Approximation
Haibo Zhao1, *, Chengguang Wang 2
1 School of Electrical Engineering and Engineering Technology Research Center of Optoelectronic Appliance, Tongling University, Tongling 244061, PR China
2 Sichuan Institute of Aerospace System Engineering, Sichuan 610100, PR China
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.
Keywords: Backstepping adaptive control, Backlash nonlinearity, Dual-motor driving, Fuzzy approximation system, Robustness.
Article Information
Article History:
Received Date: 03/07/2016
Revision Received Date: 15/08/2016
Acceptance Date: 16/09/2016
Electronic publication date: 15/11/2016
Collection year: 2016
© Zhao and Wang ; Licensee Bentham Open
open-access license: This is an open access article licensed under the terms of the Creative Commons Attribution-Non-Commercial 4.0 International Public License (CC BY-NC 4.0) (
https://creativecommons.org/licenses/by-nc/4.0/legalcode), which permits unrestricted, non-commercial use, distribution and reproduction in any medium, provided the work is properly cited.
* Address correspondence to this author at the School of Electrical Engineering and Engineering Technology Research Center of Optoelectronic Appliance, Tongling University, Tongling, 244061, PR China; Tel: +86-13866506742; E-mail: happyzhaohaibo@126.com
Open Peer Review Details |
Manuscript submitted on 03-07-2016 |
Original Manuscript |
Improved Backstepping Adaptive Control of Dual-motor Driving Servo System with Backlash Based on Fuzzy Parameter Approximation |