Adaptive high-order terminal sliding modes control with decoupling stator current for induction motor

Based on vector control principle, this paper proposes an adaptive high-order nonsingular terminal sliding mode control scheme for the velocity loop and the current loop of induction motor velocity servo system respectively. Nonsingular terminal sliding modes are designed to improve the response speed and the robustness of the system and guarantee the global stability of the system. Meanwhile, high-order sliding modes are adopted to eliminate the chattering phenomenon. For the velocity loop, an on-line estimation mechanism is built to guarantee the robustness of the system to both the varying inertia and load torque disturbance. For the current loop, decoupling of the current is accomplished to improve the performance of the current controller. The simulation results show that the proposed method can realize the fast and precise response of the system, eliminate the chattering phenomenon, and estimate both the inertia and the load torque.