Fuzzy Sliding Mode Adaptive Control Of Dual-Motor Driving Servo System
2018 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ROBOTICS AND AUTOMATION (ICMRA)(2018)
Abstract
Backlash nonlinearity exists in dual-motor driving servo system, in order to weaken the adverse effects of backlash nonlinearity on the system, we first described the system model. Then we designed a multiple sliding surfaces-based fuzzy sliding mode adaptive controller combining a fuzzy approximation algorithm with sliding mode control, which we believe to be the first time for dual-motor driving servo system, and analyzed its stability. We adopted a Nussbaum function to compensate the uncertainty in the system and employed a fuzzy approximation system to approximate the unknown nonlinearity in the controller. Finally, simulation results show that fuzzy sliding mode adaptive control has not only better dynamic and steady-state performance, but also better robustness than single fuzzy control, validating the effectiveness of the proposed control algorithm.
MoreTranslated text
Key words
backlash nonlinearity, dual-motor driving, fuzzy approximation, sliding mode control, robustness
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined