Adaptive Robust Failure Compensation Control for Servo System Driven by Twin Motors

In the context of failure control servo system driven by twin motors, there are still no available results to compensate unknown actuator failures which seem inevitable in practice adaptive backstepping technique. Therefore, rise reliability system, we aim at addressing such a problem proposing an robust compensation scheme based on technique for motors. Unlike traditional backstepping, estimation coefficient intermediate state variable is introduced coordinate changes. addition, matching and non-matching uncertainties have been fully considered controller design. Simulation show that designed can ensure boundedness all signals matter occur or not.