Anti-Disturbance Dynamic Surface Control for Position Tracking of Interior Permanent Magnet Synchronous Motor Based on Nonlinear Extended State Observer

In this paper, an anti-disturbance output feedback dynamic surface control (DSC) method is proposed for the position tracking of interior permanent magnet synchronous motor subject to unknown nonlinearities and time-varying disturbances. Specifically, a nonlinear extended-state-observer (NLESO) based on exponential functions is designed to estimate the total disturbance composed of system uncertainties and external disturbances. Then, by compensating for the total disturbance via the NLESO, an anti-disturbance output feedback law is designed based on the DSC approach. The salient features of the proposed approach is twofold. First, the total uncertainty including internal and external disturbances can be accurately estimated by an NLESO in real time. Second, the desired anti-disturbance performance of the servo control system can be achieved regardless of the position measurement only. The stability of the closed-loop control system is proved by using the cascade theory and input-to-state stability theory. Both simulation and experiment results are conducted to illustrate the effectiveness of the proposed control method.