Adaptive fuzzy position control for electrical servodrive via total-sliding-mode technique

An adaptive fuzzy total-sliding-mode controller (AFTSMC) with a total switching surface is proposed to control the position of an electrical servodrive. The proposed controller comprises a special fuzzy total-sliding-mode controller (FTSMC) and an adaptive tuner. The FTSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a total-sliding-mode controller (TSMC). In addition, a translation width is embedded into fuzzy rules to reduce the chattering phenomena. The adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilised to adjust the translation width on-line for further assuring robust and optimal performance. In the AFTSMC, the fuzzy-control-rules base is compact and only one parameter needs to be adjusted. An electrical servodrive with the proposed position-control system possesses the advantages of a simple control framework, reduced chattering, stable performance and robustness to uncertainties. The effectiveness is demonstrated by simulated and experimental results, and its advantages are indicated in comparison with conventional TSMC and adaptive TSMC for a field-oriented control induction-motor (IM) drive.