%0 Journal Article
%T Backstepping adaptive control of dual-motor driving servo system<br>双电机驱动伺服系统的反推自适应控制
%A ZHAO Hai-bo
%A ZHOU Xiang-hong
%A <br>赵海波
%A 周向红
%J 控制理论与应用
%D 2011
%I 
%X We proposed a model for the dual-motor driving servo system with unknown backlash. By introducing the virtual control quantity, using backstepping approach and recursively selecting the Lyapunov function, we designed an adaptive controller with state feedback, and analyzed its stability. This design needs no knowledge about the uncertainty internal parameters of the system. Compared with the conventional PID control in simulation results, the proposed control strategy shows better position tracking performance and higher robustness. Practical experiments also validate the efficacy of the proposed control strategy.
%K backlash nonlinearity
%K backstepping control
%K adaptive control
%K dual-motor driving<br>齿隙非线性
%K 反推控制
%K 自适应控制
%K 双电机驱动
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=5704D2E38E2B920F4090576321E7F686&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=04EA291949415E08&eid=8A6D8366EA57F0FF&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=12