Backstepping adaptive observer tracking strategy for gear transmission system under nonlinear constraints

Abstract

In this paper, the tracking control problem of gear transmission servo system with full-state constraints is studied, in which nonlinear dead zone and disturbance are considered. A backstepping tracking control strategy based on barrier Lyapunov function is proposed. First, a dynamic model of the gear transmission system considering nonlinear dead zone was established. Then, a disturbance observer based on sliding mode and adaptive gain is proposed to approximate the dead zone and disturbance. Thirdly, to address the issue of full-state constraints, a backstepping control method based on a barrier Lyapunov function is proposed, wherein the barrier Lyapunov function is used to constrain the states. In addition, a radial basis function neural network is proposed to fit the nonlinear term in the backstepping process. Finally, the effectiveness of the control algorithm is verified by simulation and experiment.