Collaborative control of circumferential yarn implantation system for large-scale 3D braiding equipment using fast nonsingular terminal sliding mode

To ensure high performance collaborative control of the circumferential yarn implantation system for a specific large-scale 3D braiding equipment, a multi-motor fast nonsingular terminal sliding mode (FNTSM) controller is proposed using time-delay estimation (TDE) and deviation coupling control (DCC). Then, comparative experiments were conducted among our proposed TDE-based FNTSM controller and PD controller and TDE-based PD controller. As shown in the experimental results, the root-mean-square error (RMSE) and maximum absolute error (MAE) ensured by our FNTSM controller tracking sine signal have decreased by 89.4% and 67.1% compared with the ones by PD controller, while the RMSE of our FNTSM controller tracking slope signal is ensured within 0.03°. Meanwhile, the RMSE and MAE of our FNTSM controller tracking sine signals have been reduced by 48.2% and 56.9% due to DCC, respectively. Afterwards, less than 3% error fluctuation has been observed with load using our FNTSM controller. High control performance and strong robustness have been experimentally observed.