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

Abstract

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.

Friction-resilient position control for machine tools—Adaptive and sliding-mode methods compared

“…The Adaptive backstepping Controller (ABSC) was presented in detail in Krstic et al (1995). Such controllers were designed for a Permanent Magnet Synchronous Motor (PMSM) Zhou and Wang (2002) and a double-motor driving servo system Zhang and Ren (2014). LuGre friction compensation was achieved in Tan and Kanellakopoulos (1999) via an ABSC.…”

Model-free control for machine tools

“…The need for achieving nominal performance even in the presence of increased friction, motivates the investigation of nonlinear control strategies. Gain-scheduling (Van de Wouw et al (2008)), sliding-mode (Jin et al (2009)), backstepping (Zhang and Ren (2014)) and nonlinear adaptive controllers (Papageorgiou et al (2018)) can eventually minimize this performance deterioration, but at the expense of a significant design complexity. In addition to that, most of these techniques focus on stability of the closed-loop dynamics without emphasizing high-accuracy positioning.…”

Adaptive and sliding mode friction-resilient machine tool positioning – Cascaded control revisited

“…A substantial amount of work on nonlinear adaptive and Sliding Mode Control (SMC) methods has been reported in the literature in relation to friction rejection. The reader is indicatively referred to [28,29,30,31,32,33], as well as to [34,35,36,37,38,39,40,41]. Although the powerful robustness properties of these controller families have been extensively analysed, their performance and applicability to machine tool control had not been adequately assessed, especially in comparison to the conventional P-PI cascades.…”