Adaptive Robust Failure Compensation Control for Servo System Driven by Twin Motors

In the context of failure control of servo system driven by twin motors, there are still no available results to compensate unknown actuator failures which seem inevitable in practice by adaptive backstepping technique. Therefore, to rise the reliability of the system, we aim at addressing such a problem by proposing an adaptive robust actuator failure compensation control scheme based on backstepping technique for servo system driven by twin motors. Unlike the traditional backstepping, the estimation of unknown coefficient of intermediate state variable is introduced in coordinate changes. In addition, matching and non-matching uncertainties have been fully considered in the controller design. Simulation results show that the designed controller can ensure the boundedness of all the signals no matter actuator failures occur or not.