@inproceedings{834cfe25b6c84a0bbebe04db2bfc8c53,
title = "A switching strategy with a sliding mode control based on sub-optimal energy consumption for dual-motor servo systems with backlash",
abstract = "Aiming at a waste of energy resulted from using bias torque method for dual-motor servo systems with backlash, this paper presents a switching strategy with a sliding mode control based on sub-optimal energy consumption. A switching strategy is proposed to guarantee that one motor can contact with the load, and the other motor can go through the backlash quickly when the systems stay in the reversing direction stage. According to the maximum principle of optimal control, the optimal energy control law with an inequality constraint is derived by solving the Hamilton canonical equation. A sliding mode controller is designed based on optimal control and the energy consumption for the systems can be greatly reduced by this design. Meanwhile, the nonlinear influence of the backlash can be effectively eliminated through this switching strategy. Simulation results are conducted to validate the tracking performance and less energy consumption of the proposed method.",
keywords = "Dual-motor servo systems with backlash, energy sub-optimal control, sliding mode control, switching strategy",
author = "Minlin Wang and Xuemei Ren and Dongwu Li",
note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2014.6896508",
language = "English",
series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
publisher = "IEEE Computer Society",
pages = "8956--8961",
editor = "Shengyuan Xu and Qianchuan Zhao",
booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
address = "United States",
}
