Adaptive Dynamic Surface Control for Dual-Motor Driving System with H∞ Performance

Abstract

In this paper, a novel adaptive tracking control method is proposed for the dual-motor driving system (DDS) with parameter uncertainties and external disturbances. The DDS is a multi-variable, nonlinear and strong-coupling system which increases the difficulty of the controller design. To handle this problem, a set of alternative state variables is introduced to transform the DDS into a strict feedback form. Based on the transformed system, an adaptive controller is constructed by integrating the H $\infty$ technique into the dynamic surface control to guarantee that the output tracking error satisfies the H $\infty$ performance. More importantly, the designed controller cannot only attenuate the influences of external disturbances on the system output, but also have a strong robustness for system parameter variations. Simulation results are conducted to validate the effectiveness of the proposed method.