@inproceedings{384b49d0a74d4bb5a13a1e241fc87aa1,
title = "Switching control for multi-motor driving servo system with uncertain parameters",
abstract = "This paper presents a novel switching control for multi-motor driving servo systems with uncertain parameters, such that it is sufficient to achieve speed synchronization among motors and load tracking. In order to solve the problem of complex coupling relationship between synchronization and tracking, a switching plane (SP) is introduced to implement switching between speed synchronization control and load tracking control. In design of synchronization control, the adaptive scheme based on speed negative feedback is proposed to achieve synchronization errors convergence in finite time. Due to the properties of robustness, the adaptive robust algorithm is utilized to attain load tracking accurately, where dual-observer and adaptive laws are presented to estimate unknown friction state and uncertain parameters. Comparative simulation results are included to verify the reliability and effectiveness.",
keywords = "Friction compensation, Multi-motor driving servo systems, Parameter estimation, Synchronization control, Tracking control",
author = "Wei Zhao and Xuemei Ren",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2016.; Chinese Intelligent Systems Conference, CISC 2015 ; Conference date: 01-01-2015",
year = "2016",
doi = "10.1007/978-3-662-48386-2\_6",
language = "English",
isbn = "9783662483848",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "51--61",
editor = "Hongbo Li and Weicun Zhang and Yingmin Jia and Junping Du",
booktitle = "Proceedings of the 2015 Chinese Intelligent Systems Conference",
address = "Germany",
}