Finite-time adaptive dynamic surface synchronization control for dual-motor servo systems with backlash and time-varying uncertainties

The dual-motor driving servo system is continuously developed to satisfy strict safety and reliability requirements. However, several factors may degrade the system's performance, such as transmission backlash, parameter drift, and motor dynamic characteristic differences. To overcome these factors, this study proposes a finite-time tracking and synchronization control method for dual-motor servo systems that suffer from backlash and time-varying uncertainties. Our solution utilizes an adaptive dynamic surface and cross-coupling control scheme to deal with tracking and synchronization control issues and compensate for the unknown time-varying uncertainties. Through synchronizing the speed and acceleration states, the proposed controller guarantees high control performance and eliminates the force fighting caused by the motor's dynamic characteristic differences. In addition, finite-time control ensures the tracking error converges to an arbitrarily small neighborhood of zero in finite time. Moreover, the singularity problem in the derivative of the virtual control signal is avoided by introducing a new compensation term. Several simulations prove the proposed controller's stability and effectiveness.