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

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.