Observer-based Optimal Control for Dual Motor Tracking and Synchronization

In this paper, a dynamic surface tracking and sliding mode synchronization control strategy based on optimal control is designed for the load tracking and motor synchronization problems of dual-motor driving servo systems (DDSS). Consider the nonlinear disturbances and external disturbances in the system as the total disturbance of the system, estimate them by the state and extended disturbance observer (SEDO), and insert the estimated values into the controller for compensation. By selecting appropriate optimal performance indicators, tracking controllers combining optimal control and dynamic surface control, as well as optimal sliding mode synchronization controllers based on average deviation coupling control strategy, were designed. Finally, the effectiveness of the control algorithm was verified through simulation.