Adaptive Command Filtered Control of Servo System Driven by Dual Motor with Backlash

This work designs an adaptive command filtering controller for servo systems driven by dual motors, ensuring that the tracking error converges to the neighborhood near the origin. The state space of servo system driven by dual motor is constructed by developing state variables and corresponding transform. The use of command filters not only addresses the potential noise interference in the reference signal, but also overcomes the inherent “computational explosion problem” in traditional backstepping control. The dynamic filtering error compensation mechanism is applied to offset the impact of filtering errors on the system control accuracy. In the light of asynchronous problems, synchronous speed error is considered in the last step of the design procedure. At last, simulation result is given to clarify the effectiveness of the presented control method.