Design of neural network controller of dual-motors driving servo system

Aiming at the control problem of the dual-motors driving servo system with unknown backlash and friction,the model is given,and a FLNN(function link neural network) expended by trigonometric polynomials is introduced to identify those unknown backlash and friction nonlinearities online,then a neural network controller is proposed using Backstepping approach.A new tuning scheme is proposed which can guarantee the uniform boundedness of tracking error,synchronous error between subsystems and weights.Simulation illustrates the effectiveness of the proposed scheme.