Finite-time adaptive fuzzy asymptotic tracking control for PMSMs with full-state constraints

In this paper, a finite-time adaptive fuzzy control approach is developed for asymptotic tracking control of permanent magnet synchronous motors (PMSMs) with full-state constraints. Multiple nonlinear state-dependent functions are introduced in the control design, such that the rotor position, the rotor angular velocity and the currents of the d-q axis are confined to effective ranges. By combining backstepping control design with the finite-time control technique, a novel adaptive fuzzy tracking control is developed, which can accelerate the convergence speed and improve the robustness of the PMSM servo systems. Moreover, the asymptotic tracking control can be achieved with the aid of a scaling function. It is proven that all signals of the closed-loop system are uniformly ultimately bounded, and the position tracking error can converge to zero asymptotically in finite time. Finally, the simulation results are provided to verify the effectiveness of the proposed control approach, and some comparisons are given to show the rapid and accurate position tracking performance.