Adaptive Predefined Performance Sliding Mode Control of Motor Driving Systems With Disturbances

In this paper, a predefined time sliding mode control with prescribed performance is presented for dual-inertia driving systems with unknown disturbances. A modified prescribed performance function (PPF) without requiring the accurate initial error is designed to guarantee that the tracking error remains within the prescribed boundary. An adaptive law is then constructed to estimate the unknown upper boundary parameters of the lumped dynamics (e.g., parameter uncertainties and external disturbances), so that the prior knowledge of the upper bound of uncertainties is not required. The parameter estimation is incorporated into the control design to eliminate the effects of the unknown dynamics. Using the sliding mode technique, an adaptive predefined time sliding mode control is developed. The proposed control method can achieve fast convergence rate of the tracking error, and the stability of the closed-loop system is proved via the Lyapunov function method. Comparative experiments are carried out based on a dual-inertia driving system to validate the efficacy of the proposed approach.