A fuzzy adaptive sliding mode controller for uncertain nonlinear multi motor systems

Abstract

Abstract. Multi-motor drive systems are nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic, backlash. They have been widely used in many modern industries. The control law for this dive system much depend on the determining of the tension being hard to obtain this tension in practice based on a load cell or a pressure meter due to the accuracy of sensors or external disturbance. An emerging proposed technique in the control law is the use of adaptive sliding mode control scheme to stabilize closed system. However, the control system would be affected by chattering phenomenon. In order to eliminate this term, fuzzy technique is proposed by adjusting equivalent coefficients. The theory analysis and simulation results point out the good performance of the proposed fuzzy adaptive sliding mode control for the drive system.

A Passive Decomposition Based Robust Synchronous Motion Control of Multi-Motors and Experimental Verification

“…Moreover, for a decade, many synchronous control schemes of multi-motor systems have been proposed [12][13][14][15][16][17][18][19][20][21]. Refs.…”

“…Refs. [17][18][19][20][21][22][23][24][25][26][27] used the sliding mode control technique, fuzzy sliding mode control, and adaptive control to achieve the synchronous motion control. Ref.…”

A Survey of Fuzzy Algorithms Used in Multi-Motor Systems Control

“…The mechanical interconnections between motor shafts are characterized by effects of elasticity, friction and backslash. The two-motor drive system model considering these effects is given in [8,12]. The control goals for continuous lines are summarized in [13] as follows: decoupled control of tension and speed values, invariance against additive disturbances, robustness against changes of important line parameters, dynamic responses of controlled variables without any overshoots, and stability of the controlled system.…”

“…Fuzzy controllers used as compensators or for speed regulation usually have two inputs, error e and error change e c = de/dt and one [4,8] or two outputs [25,32]. The authors mostly use three [12,32], five [25,33,34] or seven [4,35] membership functions for inputs. The number of membership functions defined for output variables in most cases is the same as the number of membership functions for input variables, but may be smaller [1] or larger [8,36] depending on application.…”

“…In Reference [12], the authors introduced a fuzzy technique proposed by Takagi-Sugeno-Kang to eliminate the chattering phenomenon which occurs in the two-motor drive system with an adaptive sliding mode controller used to obtain tracking effectiveness. The fuzzy algorithm is used to adjust the coefficient of the sliding mode controller.…”