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This paper proposes an adaptive integral backstepping hybrid terminal sliding-mode control for permanent magnet synchronous motors (PMSMs). The adaptive integral backstepping method based on the implicit Lyapunov function is utilized to design the position controller of a PMSM system, which can compensate the parameter uncertainties and the load disturbance of the system. The current controller of the PMSM system is designed using both techniques, i.e. nonsingular terminal sliding-mode (NTSM) and high-order sliding-mode (HOSM). The NTSM is used to improve the robustness and response speed of the system. Meanwhile, the HOSM is adopted to eliminate the chattering phenomenon and soften the control signal. Simulation results are presented to validate the proposed method.

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This paper presents a new form of nonsingular terminal sliding mode control with fuzzy tuning approach for tracking-performance enhancement in a class of nonlinear systems with uncertainties and external disturbance. The robustness of the controller is established using the Lyapunov stability theory. The main contribution of the proposed method is that the terminal sliding surface can rotate and bend in the phase space so that the tracking performance can be enhanced, and chattering can also be reduced by employing fuzzy tuning of the controller parameters. Theoretical analysis and simulation results demonstrate the efficacy and superiority of the proposed approach in the sense of tracking-performance enhancement comparing with conventional terminal sliding mode control.

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This paper considers an active control system that reduces pendulation of suspended loads for the underactuated characteristic of the three-dimensional davit system. The dynamic model is established with the Lagrange equation and the anti-swing controller of davit system is designed based on the system's energy. Compared with other anti-swing controllers of the marine davit, it adopts active pendulation control and doesn't need approximately decoupling and linearization. And it still can restrain pendulation of load effectively, even though the mass of load and the length of cable are uncertain. The stability of closedloop system is proved by Lyapunov stability theory and LaSalle invariance principle. Simulation results demonstrate that the active pendulation control system is effective.Index Terms -davit, energy-based, underactuated, active pendulation control, fixed-length of the cable

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