@inproceedings{2df04af862f4498d8678ed89e97e908c,
title = "Adaptive backstepping control of dual-motor driving servo systems with friction",
abstract = "This paper presents a new compensation technique for friction that utilizes a backstepping control structure and an adaptive estimation of the friction force based on an observer for the class of dual-motor driving system. The adaptive dual-state observer is developed to estimate the unknown state z of the LuGre friction model. The stability analysis of the system is verified by Lyapunov stability theory. Finally, simulation results show the achievable control performance of the proposed control strategy and the effectiveness of the observer.",
keywords = "adaptive control, backstepping control, dual-motor driving, friction compensation",
author = "Yu Zhang and Xuemei Ren",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 6th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2014 ; Conference date: 26-08-2014 Through 27-08-2014",
year = "2014",
month = oct,
day = "7",
doi = "10.1109/IHMSC.2014.60",
language = "English",
series = "Proceedings - 2014 6th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "214--217",
booktitle = "Proceedings - 2014 6th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2014",
address = "United States",
}