Backstepping adaptive control of dual-motor driving servo system
双电机驱动伺服系统的反推自适应控制

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.