Backstepping Sliding Mode Control of Dual-motor Servo System Based on Improved Double Power Reaching Law

An improved double power reaching law is proposed in this paper to solve the nonlinear problem of the backlash in the mechanical transmission link of the dual motor driving servo system. Firstly, the dual-motor servo system with gear is established. Then, the traditional double power reaching law and sliding mode surface are employed to obtain the filtered variables, which can construct a compensation term in original reaching law to reduce the compact of system uncertainties and disturbances. The convergence analysis and boundness of the improved double power reaching law are provided. Besides, the backstepping sliding mode control is investigated to greatly improves the convergence efficiency of the system, and the stability analysis is carried out. Finally, the effectiveness of the proposed methods is verified by simulations.