Adaptive Output Feedback Control for a Multi-Motor Driving System with Completely Tracking Errors Constraint

This paper proposes an adaptive output feedback controller for the multi-motor driving system (MDS) to achieve the precision motion control with completely tracking errors constraint. By adopting a K-filter observer to estimate the unknown system states, a modified barrier Lyapunov function (MBLF) is integrated into the adaptive output feedback control to make all the tracking errors constrained within the prescribed bounds. Since the MBLF is suitable for both constrained and unconstrained conditions, it expands the application filed of the classical Lyapunov function. Moreover, minimize learning parameter technique is utilized into the adaptive law design, which improves the adaptive learning process greatly. The system stability is proven by Lyapunov theory. The simulations are conducted on a four-motor driving system to illustrate the efficiency of the proposed controller.