Extended Kalman Dynamic Surface Linear Compensation Control for Dual-Motor Servo Systems with Drive-Backlash

Dual-motor drive can effectively improve the output torque and increase the payload of heavy-duty robots, however, dual-motor drive control currently exists in the high dynamic situation there is a contradiction between control accuracy and torque output balance due to drive-backlash. In this paper, it is proposed that a linearization method of the dynamical equations with continuously derivable activation functions to solve the discontinuous control problem caused by the drive-backlash and significantly reduce the complexity of the controller design. The proposed dynamic surface control method is based on the extended Kalman estimation and prediction of load position to solve the jitter and torque limitation problems caused by the drive-backlash, and to improve the torque output efficiency and control accuracy. Multiple simulations demonstrate the stability and effectiveness of the proposed controller.