Adaptive High-Order Sliding Mode Control for PMSM Drives with Load Disturbance

This paper focus on the speed tracking control of servo system driven by permanent magnet synchronous motor (PMSM) with load disturbance. An adaptive high-order sliding mode controller (AHOSM) is designed as a speed controller in the servo system to improve the performance of the speed tracking in terms of tracking accuracy and robustness. The adaptive law, which is introduced to update the gains of HOSM, is derived based on Lyapunov stability theory and independent of the bound of the disturbance. By taking the speed tracking error as control input, the purpose of the AHOSM is export an appropriate current to the current controller of PMSM. Simulation results show that the proposed controller has faster convergence rate, better robustness and higher accuracy.