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| Based on extended state observer (ESO), we propose adaptive robust control (ARC) for dual motor driving servo system, in which there exist nonlinearities affecting control performance. First, backlash and friction phenomenon are analyzed in detail and nonlinear model of the plant is derived. Then, for the obtained nonlinear model of dual motor drive servo system with perturbation and disturbance, ESO is designed to estimate the lumped uncertainty online before designing ARC. Considering the estimated lumped disturbance signal, Lyapunov approach is employed to design adaptive law, which guarantees closed-loop stability and boundedness of all signals. Furthermore, transient performance of tracking behavior is guaranteed by initialization in the sense of $L_infty$ norm. Finally, extensive experimental results on a practical test rig validate the effectiveness of our proposed method. |
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| Keywords:Control theory and control engineering, Dual motor drive servo system, Adaptive control, Extended State Observer, Speed control. |
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