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A preset performance control strategy combining adaptive nonsingular fast terminal sliding mode (NFTSMC) with disturbance observer (DO) is proposed for multi-motor drive servo system. The prescribed performance function (PPF) indirectly keeps the Angle tracking error within the preset range by controlling the boundedness of the conversion error. Improving exponential reaching law by introducing system state variables, the sliding mode adaptive control method to make the system have high robustness. Finally, the convergence in finite time are proved by Lyapunov theorem. and the simulation based on the designed controller are completed.

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Finite Time Adaptive Sliding Mode Control of Multi-Motor Based on Prescribed Performance

  • 会议论文

  • 发表日期：

    2026年

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  • Guofa Sun,
  • Fengtong Li,
  • Chuangye Li

摘要

A preset performance control strategy combining adaptive nonsingular fast terminal sliding mode (NFTSMC) with disturbance observer (DO) is proposed for multi-motor drive servo system. The prescribed performance function (PPF) indirectly keeps the Angle tracking error within the preset range by controlling the boundedness of the conversion error. Improving exponential reaching law by introducing system state variables, the sliding mode adaptive control method to make the system have high robustness. Finally, the convergence in finite time are proved by Lyapunov theorem. and the simulation based on the designed controller are completed.