Terminal sliding mode cascade control for tracking and synchronization of a dual-motor driving system

This paper presents a terminal sliding mode cascade control scheme to achieve both load tracking and dual-motor synchronization of a dual-motor driving system (DDS). The proposed cascade control structure including an outer loop and an inner loop is investigated, where the aim of the outer loop is to design a terminal sliding mode controller to achieve the load tracking of DDS. By treating the virtual controller as an extra reference signal of the inner loop, another terminal sliding mode controller is proposed to make the dual-motor output track it. Meanwhile, a synchronization controller is combined with the terminal sliding mode controller of the inner loop to obtain the control law of each motor so that the load tracking and dual-motor synchronization can be simultaneously achieved in finite time. The stabilities are verified by the Lyapunov theorem. Simulation results are conducted to validate the effectiveness of the proposed method.