Robust adaptive fuzzy sliding mode control of PM synchronous servo motor

A fuzzy-logic-based robust adaptive fuzzy sliding-mode controller is designed for a class of uncertain nonlinear system of PM synchronous servo motor, which is composed of sliding-mode control and fuzzy adaptive control. The method proposed in this paper can approximate the uncertain items of system using fuzzy model, and parameter adaptive law of fuzzy model was constructed according to the principle of sliding-mode control. This method not only can eliminate high frequency chattering, but also has strong robustness to error of approximation and good tracking performance to reference input. The global boundedness of closed-loop system state and the stability and robustness of the whole system were proved using Lyapunov method.