Dual-motor Servo Systems Tracking and Synchronization Control Based on Funnel Function
A tracking and synchronization control method for the dual motor servo systems with unknown non-linearity was proposed in this paper.Firstly,the neural network is utilized to approximate the unknown nonlin-earity,based on this,filtering technology was introduced to solve the"computational explosion"problem of tra-ditional backstepping control.and the approximation value was incorporated into the control design to compen-sate the unknown nonlinearity.Secondly,a modified funnel function was introduced to guarantee the transient performance and steady-state performance.Combined funnel variable and backstepping control technique,an a-daptive tracking controller was designed to improve the tracking performance.In order to ensure the synchro-nous operation of both motors at the same time,the synchronous controller adopted an average deviation cou-pling strategy,achieving tracking and synchronization control of the dual motor servo system.
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