Fast terminal sliding mode synchronization control of dual-motor driving servo systems

This paper proposes a fast terminal sliding mode synchronization (FTSMS) control with variable coefficient for dual-motor driving servo systems with unknown backlash. The proposed algorithm consists of two parts, the dual-motor synchronization control and the load tracking control. A nonlinear variable coefficient characterizing the synchronization rate is used for fast terminal sliding mode, such that the system is sufficient to achieve synchronization and tracking control for the reference signal with prescribed performance. A continuously differentiable function is adopted to account for the non-differential deadzone. The proposed FTSMS has a faster convergence rate than the conventional sliding mode. More importantly, the convergence time of FTSMS control is limited. Comparative simulations are included to verify the reliability and effectiveness.