A Novel Nonsingular Fast Terminal Sliding Mode Control with Sliding Mode Disturbance Observer for Permanent Magnet Synchronous Motor Servo Control

Abstract

This article proposes a novel nonsingular fast terminal sliding mode control (N-NFTSMC) with a sliding mode disturbance observer (SDOB) for permanent magnet synchronous motor (PMSM) servo control. Firstly, to reduce the chattering issue, a new sliding mode reaching law (NSRL) is proposed for the N-NFTSMC. Secondly, to further improve the dynamic tracking accuracy, we introduce a sliding disturbance observer to estimate unknown disturbances for feedforward compensation. Comparative simulations via Matlab/Simulink 2018 are conducted using the traditional NFTSMC and N-NFTSMC; the step simulation results show that the chattering phenomenon was suppressed well via the N-NFTSMC scheme. The sine wave tracking simulation proves that the N-NFTSMC has better dynamic tracking performance when compared with traditional NFTSMC. Finally, we carry out experiments to validate that the N-NFTSMC adequately suppresses the chattering issue and possesses better anti-disturbance performance.