Adaptive Fast Terminal Sliding Mode (FTSM) Control and High Gain Observer (HGO) for Multi-Motor Web Transport Systems

Xuan Tinh Tran; Tuyen Van Tran; Krestovnikov Konstantin

Xuan Tinh Tran AD-AF Academy
Tuyen Van Tran Ha Noi https://orcid.org/0009-0007-5597-5875
Krestovnikov Konstantin St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS) https://orcid.org/0000-0001-6303-0344

Keywords: Winding system, fast terminal sliding controller, neural network, manipula-tion systems

Abstract

The research object of the article is the web winding system, which has a complex MIMO structure, has variable parameters and is affected by noise. In reality today, the controllers of this system mainly use linear control methods. However, linear control methods do not always provide the desired quality. Therefore, research, development and application of nonlinear algorithms to improve system quality is essential. A substantial amount of developments in the field of regulators for complex systems with variable parameters has been realized in the field of robotics and manipulation systems. This paper presents the results of synthesizing the adaptive fast terminal sliding controller based on the neural network for the web winding system for elastic material. The survey and evaluation results by simulation on Matlab-Simulink software show that this controller ensures the quality requirements even when the system is affected by random input noise and model parameters change. The application of the developed solutions in robotics will improve the quality of control and increase the efficiency of mechanical systems.