Non-singular terminal sliding mode adaptive control of permanent magnet synchronous motor based on a disturbance observer

This study proposes a non-singular terminal sliding mode adaptive control strategy based on a disturbance observer for a permanent magnet synchronous motor (PMSM) with multiple disturbances. Firstly, the multiple disturbances of the PMSM can be divided into two types including a load disturbance formulated by an exo-system, modelling error and circuit noise represented by a norm-bounded equivalent disturbance. Secondly, a disturbance observer is applied to estimate the load disturbance and its derivative. A non-singular terminal sliding mode controller based on the disturbance observer and an adaptive controller is designed to reject the modelled disturbance and compensate the norm-bounded disturbance. Then, the stability of the controlled system is proved by the Lyapunov method. Finally, simulation results of a PMSM control system are provided to verify the effectiveness.