Backstepping adaptive control of dual-motor driving servo system with backlash nonlinearity

Aiming at the control problem of the dual-motor driving servo system with unknown backlash, I proposed the model of system. I designed an adaptive controller with state feedback and analyzed its stability by introducing virtual control quantity, using backstepping approach and recursively selecting Lyapunov function. The results of simulation show that the proposed control strategy don't need to know the uncertainty of internal parameter of system and improves system position tracking performance and robustness, compared with conventional PID control.