Investigation on a Constrained Adaptive Control for Dual-Motor Driving Systems Based on ABLF

Dual-motor driving systems are increasingly popular in heavy-duty transport propulsion systems in both civilian and military domains for their robust driving ability. These type of driving systems face three challenges: 1) the matched uncertainties caused by the inaccurate model parameters and the unmatched uncertainties caused by the nonlinear gear backlash; 2) rapid response and smooth operation are required simultaneously under heavy-load conditions; 3) asynchronism between the two driving motors. In this paper, an adaptive law is designed to estimate system parameters, while the matched and unmatched uncertainties of the system are estimated by two full-state feedback linear extended state observers (LESOs). Additionally, the asymmetric barrier Lyapunov function (ABLF) and the boundary function (BF) are combined by the backstepping technique to achieve rapid response within the system constraints. Furthermore, dual motors are considered as an averaged virtual motor, with compensating currents introduced to eliminate the difference between their rotational speeds. Simulation results indicate that this control scheme exhibits high precision and rapid response during position tracking operation.