Plant/controller integrated design for dual-motor servo systems with backlash

This paper proposes an integrated design of the plant, finite-time controller and bias torque for the dual-motor servo systems with backlash. To achieve the finite-time error convergence of the tracking error, a recursive fast terminal sliding mode controller (FTSMC) is proposed, which contains two sliding mode control laws for the situations that both of motors driving the load and only one motor driving the load. Since the backlash will result in the load uncontrollable problem, the time-varying bias torque is designed to eliminate the backlash nonlinearity. Finally, an integrated design uses the particle swarm optimization algorithm to optimize the parameters of all the controller, bias torque and backlash. Simulation results are conducted to validate the desired load tracking performance of the proposed integrated design.