Aiming at the problems of model uncertainties and other external interference in trajectory tracking control n-degree freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) method is proposed. A (NDO) designed to forecast compensate system interference, gain make error achieve expected exponential convergence rate so that feedforwar...

When a permanent magnet synchronous motor runs at low speed, the inverter will output discontinuous current and generate torque ripple; when is high large amount of stator harmonic generates, which affects its speed following ability stability. To ensure fast smooth switching in full domain, this paper proposes nonsingular terminal sliding mode control PMSM based on improved exponential reachin...

Aiming at the speed regulation problem of permanent magnet synchronous motor (PMSM) drives, a novel backstepping nonsingular terminal sliding mode control (BNTSMC) method with finite-time disturbance observer (FTDO) is proposed. In order to ensure excellent tracking and anti-disturbance performance, controller based on equivalent model recursive principle designed for PMSM. The benefits this ap...