Enhanced command filtered control with extended state observer for dual‐motor servo mechanisms considering backlash and friction
Xiang Wang,
Hanzhong Liu,
Lei Zhang
et al.
Abstract:A dual‐motor servo mechanism is a high‐order and strong‐coupling system with unknown nonlinearity, which brings challenges to controller design to realize high‐performance tracking and synchronization. This article proposes a finite‐time command filtered control strategy to address this problem. In tracking control design, finite‐time command filters are adopted to obtain the derivatives of virtual controllers, and the “explosion of complexity” problem in backstepping is thus solved. An improved compensation s… Show more
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