Enhanced command filtered control with extended state observer for dual-motor servo mechanisms considering backlash and friction

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 system is designed to reduce filtering errors. The tracking control is developed based on the combination of finite-time control and command filtered approach. Moreover, to deal with unknown nonlinearities and uncertainties, fast finite-time extended state observers are developed to observe lumped disturbances for the load and motor, respectively. In synchronization control design, two opposite control actions are developed using the speed difference to force two motors to rotate synchronously. The finite-time convergence of the tracking and synchronization errors is proved. The efficiency of the proposed control strategy is verified via experiments conducted on a dual-motor servo turntable.