Combining finite-time control and prescribed tracking performance for uncertain PMSM driven steer-by-wire system with unknown disturbance

Abstract

To solve the uncertainties in permanent magnet synchronous motor (PMSM) driven steer-by-wire (SbW) system, a prescribed-performance-control (PPC) based finite-time fuzzy controller is proposed. Specifically, the dynamics of SbW system driven by PMSM is analyzed, and combine PPC technology to transform the tracking error coordinates. Then, the velocity signal is obtained from the sigmoid function-based tracking differentiator by using the position signal. To solve the problem of mismatched disturbance, fuzzy logic system (FLS) are used as a universal approximator to estimate the lumped nonlinear friction and other unknown functions, the boundary of lumped disturbance is estimated by the designed adaptive updating law. By fusing the designed virtual controller and the intermediate control law, the controller needs no precise parameters of system, under which the effect of uncertainty of control gain can be compensated completely. Finally, rigorous theoretical analysis based on the Lyapunov stability theory is provided to demonstrate the finite-time stability of the closed-loop system under consideration. Simulation and experiment results are presented to show the effectiveness of the developed control approach, and some comparisons are given to show the rapid and accurate position tracking control performance.