Gear wear, backlash, and parameter uncertainties in dual-motor drive systems cause dead-zone nonlinearity and model mismatches, leading to torque discontinuities and degraded tracking. To address these issues, a novel prescribed-performance adaptive synchronization control strategy is proposed. The dead-zone nonlinearity is handled by a continuous function approximation to simplify controller design, while an improved prescribed performance function is introduced to transform constrained dynamics into an unconstrained form, which guaranteeing transient performance. The backstepping framework, incorporating a novel differentiator, circumvents the differential explosion problem. Furthermore, adaptive laws are developed to online estimate uncertain transmission parameters, effectively compensating for bias torque disturbances caused by backlash. Lyapunov analysis proves the asymptotic stability of the closed-loop system. Experimental results demonstrate that the proposed method significantly enhances position tracking performance and suppresses torque oscillations.
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