SLIDING MODE CONTROL LAW FOR UNCERTAIN NONLINEAR MULTI MOTOR SYSTEMS

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. An emerging proposed technique in the control law is the use
of adaptive sliding mode control scheme for the stabilization of closed system.
The results of theoretical analysis and simulation show that this controller
ensures the quality requirements even when the system is affected by nonlinear
factors caused by the mechanical structure.