Adaptive Backstepping Control of Dual-Motor Driving Servo Systems with Friction

摘要

This paper presents a new compensation technique for friction that utilizes a backstepping control structure and an adaptive estimation of the friction force based on an observer for the class of dual-motor driving system. The adaptive dual-state observer is developed to estimate the unknown state z of the LuGre friction model. The stability analysis of the system is verified by Lyapunov stability theory. Finally, simulation results show the achievable control performance of the proposed control strategy and the effectiveness of the observer.