Robust nonlinear control for six-phase permanent magnet synchronous motor with intelligent uncertainty observer

This paper proposes a robust adaptive backstepping sliding mode control (ABSMC) algorithm for the speed regulation of a six-phase permanent magnet synchronous motor (PMSM). In the proposed technique, ABSMC is used to guarantee the speed tracking and parameter perturbation suppression, meanwhile, nonlinear H
_∞
is utilized to minimize the influence of fast-varying load disturbances on its tracking output. To increase the anti-interference robustness and parameter insensitivity of the drive system, an uncertainty observer based on the recurrent wavelet fuzzy neural network is designed and applied to the robust ABSM controller. The effectiveness of the proposed control algorithm is verified by experimental results.