Adaptive robust control of brushless DC (BLDC) motor based on sliding mode control (SMC) with unidirectional auxiliary surfaces

This paper proposes an adaptive robust controller to deal with unknown inertia and unknown friction force based on sliding mode control (SMC) with unidirectional auxiliary surfaces (USMC) for a brushless DC (BLDC) motor. The adaptive control schemes can adjust the uncertainty of inertia and friction force online. Sliding mode control with unidirectional auxiliary surfaces approach based controller provides robust performance with model error. The input control voltage generated by our proposed method in BLDC motor is continuous without paying extra cost of steady-state error, which means that the chattering phenomenon caused by traditional SMC would be eliminated. Techniques proposed in this paper have been applied to a simulated typical BLDC motor for simulation studies. The results illustrate and clarify the validity of this approach.