Processor in the Loop of Sliding Mode Control and Observer Utilizing the Super Twisting Algorithm for Mechanical Tension in a Multi-Motor System

This study introduces a nonlinear control strategy based on sliding mode control for a multi-motor system, incorporating a robust observer. The model of our multi-motor system includes five asynchronous drives interconnected by an elastic band. The objective is to regulate simultaneously both the chaining speed and the mechanical tension. The controller employs Sliding Mode Control (SMC) and is paired with a robust second-order sliding mode observer by using the Super-Twisting algorithm. This observer is designed to enhance the controller's performance in the presence of uncertainties. The combined approach ensures that both controlled speed and mechanical tension converge to their desired reference values within finite time. The effectiveness of the control strategy is assessed through MATLAB simulations and Processor-in-the-Loop (PIL) testing using the Delfino F28379D controlCARD (TMDSCNCD28379D) from Texas Instruments (TI). The results demonstrate the satisfactory robustness of the proposed strategy against disturbances and parametric variations.