Optimal Robust Guaranteed Cost Backstepping Control for Multi-motor Driving System

This paper proposes an optimal robust guaranteed cost backstepping control for the multi-motor driving system with parameter uncertainties. First, the state representation of the multi-motor driving system with parameter uncertainties is established, and a feedforward controller is designed based on the backstepping control technique. Then, based on the feedforward control, an optimal robust guaranteed cost feedback controller is designed to achieve the asymptotically stability of the error system. The proposed controller not only can increase the system robustness to the parameter uncertainties, but also can make the cost function limited by a certain upper bound. Lyapunov theory proves the stability of the control system. Finally, simulation results based on a four-motor driving system demonstrate the effectiveness of the proposed control scheme.