Fuzzy Sliding Mode Adaptive Control of Dual-Motor Driving Servo System

被引：0

作者：

Zhao, Haibo ^{[1
]}

Wang, Chengguang ^{[2
]}

机构：

[1] Tongling Univ, Engn Technol Res Ctr Optoelect Appliance, Tong City, Peoples R China

[2] Sichuan Acad Aerosp Technol, Sichuan Inst Aerosp Syst Engn, Chengdu, Sichuan, Peoples R China

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ROBOTICS AND AUTOMATION (ICMRA) | 2018年

基金：

中国国家自然科学基金;

关键词：

backlash nonlinearity; dual-motor driving; fuzzy approximation; sliding mode control; robustness; NONLINEAR-SYSTEMS; BACKLASH; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：52 / 55

页数：4