Extended state observer based adaptive fuzzy sliding mode control for multi-motor systems

Abstract This paper focuses on the tracking and synchronization control of multi-motor systems and proposes an adaptive fuzzy sliding mode control approach based on an extended state observer. First, a nonsingular sliding mode controller is designed by using the coupling error of multi-motor systems, ensuring that the error converges to a smaller region within a fixed time. Second, fuzzy logic system takes the role of the control signal's discontinuous switching term, which allows the system to adaptively modify its parameters and successfully lessen chattering. Finally, to handle the system's inherent uncertainties and external disturbances, an extended state observer is constructed and integrated into the controller, with its stability proven via the Lyapunov function. Comparative experiments demonstrate that the proposed controller outperforms traditional controllers in terms of control accuracy and response speed.