Development of adaptive fuzzy control for electrical servo drive via total sliding-mode technique

An adaptive fuzzy sliding-mode control (AFSMC) system for the high-precision position control of electrical servo drive is developed in this study. The proposed AFSMC system is designed via the approximation ability of fuzzy system to mimic the good behaviors of a total sliding-mode control (TSMC) system, which is designed without the reaching phase of conventional sliding-mode control (SMC) to reduce the effect of uncertainties during the transient process. In the AFSMC system, prior knowledge of the system information is not required. All the adaptive tuning algorithms are developed in the sense of Lyapunov stability theorem, so that system-tracking stability can be guaranteed. In addition, the effectiveness of the proposed control scheme is verified via the experimental results of a field-oriented control permanent magnet (PM) synchronous motor.