Adaptive fuzzy sliding mode control of a direct drive motor

A new approach to stable adaptive fuzzy sliding mode control of systems is proposed. The proposed scheme does not require an accurate mathematical model, yet it guarantees asymptotic stability. It incorporates an integral term in the sliding surface which eliminates steady state error. To verify the actual performance of the proposed controller, it is then applied to a position control of direct drive motor with payload and parameter uncertainty. Since direct drive motors do not have reduction gears, the variation of the load and the disturbance torque directly influence parameter changes in motor dynamics