Fast Recursive Dynamic Sliding Control Based on Improved Extended State Observer for Dual-Motor Servo System with Backlash Nonlinearity

In this paper, a novel fast recursive dynamic sliding control method based on extended state observer is proposed for dual-motor servo system with backlash nonlinearity. The extended state observer is improved by introducing a new nonlinear function to avoid high-frequency oscillation and simplify the designing process. Then, a fast recursive dynamic sliding controller is designed, which can make the system error converge to stability domain in finite-time. The simulation results compared with PID control and active disturbance rejection control show that the proposed control law greatly improve transient performance of the controller and get higher tracking accuracy.