Multi-motor cooperative control strategy based on improved integral sliding mode control

Multi-motor collaborative control has always been at the core of the motion control field, and plays an indispensable role in the development of modern industrial automation. Aiming at the fact that the multi-motor cooperative control is susceptible to uncertain factors such as nonlinearity and external disturbance, a cooperative control strategy based on integral sliding mode control was proposed. Based on the power approach rate, an inverse cotangent function was introduced to change the coefficient of the power approach term, and an exponential term was added to make the system approach the sliding mode surface quickly when it is far from the sliding mode surface, and be able to slow down the speed and reduce chattering when it is close to the sliding mode surface. The deviation coupling control structure was improved, and the dynamic response and tracking ability of the system after disturbance were improved. Finally, based on the Lyapunov stability theory, the system was analyzed for convergence, and the effectiveness of the proposed method was verified by simulation experiments. © 2021, Editorial Office of Journal of Vibration and Shock. All right reserved.