International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 1, Mar 2021, pp. 10~19

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i1.pp10-19  10

On finite-time output feedback sliding mode control of an

elastic multi-motor system

Pham Tuan Thanh1, Tran Xuan Tinh2, Dao Phuong Nam3, Dao Sy Luat4, Nguyen Hong Quang5
1,2Le Quy Don University of Technology, Hanoi, Vietnam
3Hanoi University of Science and Technology, Hanoi, Vietnam
4Dong Nai Technology University, Biên Hòa, Vietnam
5Thai Nguyen University of Technology, Thai Nguyen, Vietnam

Article Info ABSTRACT

Article history: In this paper, the tracking control scheme is presented using the framework
of finite-time sliding mode control (SMC) law and high-gain observer for
Received Jul 28, 2020 disturbed/uncertain multi-motor driving systems under the consideration
Revised Jan 15, 2021 multi-output systems. The convergence time of sliding mode control is
Accepted Feb 15, 2021 estimated in connection with linear matrix inequalities (LMIs). The input
state stability (ISS) of proposed controller was analyzed by Lyapunov
stability theory. Finally, the extensive simulation results are given to validate
Keywords: the advantages of proposed control design.
Finite-time control
Linear matrix inequalities
Multi-motor systems
Output feedback control
Sliding mode control This is an open access article under the CC BY-SA license.

Corresponding Author:
Nguyen Hong Quang,
Thai Nguyen University of Technology,
666, 3/2 Street, Tich Luong Ward, Thai Nguyen City - Thai Nguyen Province, Vietnam
Email: [email protected]

1. INTRODUCTION
Multi-motor drive systems have been employed in systems moving paper, metal, material being
quite popular in manufacturing systems and researched by many authors in the recent times. The control
method utilized artificial neural network (ANN) technique has been presented by Bouchiba et al., [1].
However, the disadvantage is to investigate the appropriate networks with associated learning rules in control
design. Furthermore, the effectiveness of tracking problem or the stabilization of the cascade system are not
still considered under the influences of using neural network approach. Dominique Knittel, et al., proposed
many linear controllers under the consideration of the approximate model of multi-motor systems without
elastic, friction as a linear system to design the controller based on the transfer function technique [2], [3].
The framework of the classical PI controller and H infinity to eliminate disturbance was proposed in the
work of [2], [3]. In the elastic multi-motor drive systems, it is necessary to estimate the belt tension to
establish the associated state feedback controller. However, the difficulties of the control design lie in the fact
that measurement of this belt tension by using sensors. The sliding mode control (SMC) technique based state
feedback control enables to eliminate influence of disturbances and unknown parameters was proposed in [1], [4].
In [4], the sliding mode controller was combined with disturbance observer as well as iterative learning
control (ILC), feedforward controller. It can be seen that, the classical nonlinear control law has been
investigated in robotic systems such as employing the fuzzy-control in inverted pendulum systems [5], robust
adaptive control schemes in bilateral teleoperators [6], wheeled mobile robotic systems [7], tractor trailer [8].

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  11

Additionally, the optimal control and optimization problem are also considered in recent time via the work in
[9]-[12]. The sliding mode based control has been paid much attention in recent years because it is a widely
relevant control methodology for uncertain/disturbed systems. SMC as a robust control scheme focuses on
reducing the disadvantage of external disturbances as much as possible based on the design of appropriate
sliding surface as well as implementing the equivalent controller [13]-[21]. An adaptive scheme was
proposed in [22] without any knowledge of the bound on the disturbance and their derivatives. The high
order SMC design was investigated in control system of unicycle under the consideration of uncertainties of
matched and unmatched term [23]. Additionally, the actuator saturation was also considered in sliding mode
control design for space craft systems [24]. The problem of investigating state observers for systems is an
important direction in the control literature. In [25], high-gain observer (HGO) has been investigated since
1980 s by the work of Petersen and Hollot on H infinity control based on the adjusting of appropriate
coefficient to satisfy the linear matrix inequalities (LMIs). Authors in [25] described the development from
the traditional example to differential observability using Taylor expansion with considering the time interval
[𝑡 − 𝑇, 𝑡]. It suggested that the HGO should be designed by intermediate variables obtained from the
differential observability work [25]. Moreover, in recent time, the HGO design for a class of multi-input
multi-output (MIMO) uniformly observable systems were also considered and the extensions of previous
idea were implemented for uncertain nonlinear systems with sampled outputs [15]. The work in [26]
mentioned two problems, including state estimation via Neural Networks and backstepping technique in
dealing with input saturation. It is worth noting that the output feedback control scheme being the framework
of state feedback control and observer was designed using dynamic gain and extended state observer [27].
The fixed-time SMC has been mentioned under the consideration of model separation for Dual-Motor
Driving systems but the separation technique problem was eliminated [28], [29]. However, most of the
previous work in multi-motor drive control systems were not only mentioned to finite time convergence in
SMC technique, but also not cared about influence of elastic and friction. Furthermore, observer design for
tension was only considered as linear approximate model as well as the separation principle has not been
mentioned. In this paper, we consider the LMI based finite-time SMC for multi-motor systems in presence of
elastic, friction as well as the high gain observer technique is determined in our work. It is worth noting that
the SMC based state feedback control scheme guarantees the elimination of disadvantage of disturbance and
uncertainties. Therefore, consideration of using high-gain observer is investigated to compute the tension in
this system and combine with the state feedback control scheme to implement the output feedback controller
guaranteed the separation principle. The stabilization of cascade system is satisfied by the output feedback
control algorithm and shown by theoretical analysis, simulations.

2. DYNAMIC MODEL OF A ROBOT MANIPULATOR AND PROBLEM STATEMENT

As the work described in [30], the model of a multi-motor systems with friction, backlash and
elastic can be represented as (1):

1 = r1 − L1

 =  − 
 2 r2 L2
 1
L1 =  kc1. f1 (1 ) + kb1 g1 (1 ) − (TL1 + r1 F21 )
 K L1
 1
L 2 =  kc 2 . f 2 (2 ) + kb 2 .g 2 (2 ) − (TL 2 − r2 F12 )
 K L2
  1 
 F12 = C12  r1L1 − r2L 2 (1 + F12 ) 
  C 12 .l 
 (1)
 F = C  r  − r  (1 + 1 F ) 
 21 12  1 L1 2 L2 21 

  C12 .l 
 y = F12

In which, the parameters of this system are shown in Table 1. In order to consider the model (1) in
the state space representation, the state variables and control inputs are given to obtain the state space model (2):

x =  x1 x6  =  1 2 L1 L 2 F12  ;

T T
x2 x3 x4 x5 F21

u = u1 u2  = r1 r 2  ;
T T

On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
12  ISSN: 2088-8694

 x1 = u1 − x3 ; x2 = u2 − x4

 x3 = 1  kc1 . f1 ( x1 ) + kb1 .g1 ( x1 ) − (TL1 + r1 x5 ) 
 K L1

 x = 1  k . f ( x ) + k .g ( x ) − (T − r x ) 
 4 K c2 2 2 b2 2 2 L2 2 6
 L2
  1 
 x5 = C12  r1 x3 − r2 x4 (1 + x5 ) 
  C12 .l 

 x = C  r x − r x (1 + 1 x ) 
 6 12  1 3 2 4 6 
  C12 .l  (2)

Table 1. Dynamic parameter

Paramaters Explaination
J1, J2, JL1, JL2 Motors’s Inertia moment, Loads’s Inertia moment (kgm2)
𝑇, 𝑇𝐿 , ∅𝑟 The torque of Motor, Load (Nm), rotor’s Flux (Wb)
𝐿𝑟 Rotor’s Self-induction (H)
Roller ‘s Radius, velocity ratio, rotor’s electric angle velocity, stator’s angle
𝑟, 𝑘, 𝜔𝑟 , 𝜔, 𝐹
velocity, belt tension
ω1, ω2, ωr1, ωr2 The angle velocity of motor, load
c1, c2, b1, b2 The coefficients of Stiffness and friction
∆𝜔1 , ∆𝜔2 The errors of angle speeds under the influence of backlash, elastic

Remark 1 : Unlike the description was established in [1]-[4], this work considers multi-motor systems
in presence of nonlinear property, backlash, friction, elastic phenomenon. Therefore, the
transfer-function based approach in [1]-[4] has not been mentioned in this paper due to these
challenges.
The main control objective to find the velocities r1 , r 2 obtaining the tracking of state variables
vector 𝑥 = [∆𝜑1 , ∆𝜑2 , 𝜔𝐿1 , 𝜔𝐿2 , 𝐹21 , 𝐹12 ]𝑇 . Furthermore, because it is hard to establish the sensors in this
multi-motor system, the controller needs to be added more the state observer obtaining the separation
principle.
For the output feedback control design, the assumptions are introduced as follows:
Assumption 1. The diameter of each motorcycle is negligible compared to length of the conveyor belt of a
multi-motor system.
Assumption 2. The friction and slip coefficients of the conveyor belt of a multi-motor system are constant
and they were not depended on loads, diameter of each motorcycle is negligible compared to
length of the conveyor belt of a multi-motor system.

3. FINITE-TIME OUTPUT FEEDBACK SLIDING MODE CONTROL DESIGN

3.1. Finite-time tracking sliding mode control design
According to the model (3) and Assumption 1, 2, the tracking error model can be obtained as (3):

 r2 x2 x5
 x1 = C12 r1 x5 − C12 r2 x6 − l

 x = C r x − C r x − r2 x2 x5
 2 12 1 5 12 2 6
l

 3
x = u1 − x5
x = u − x
 4 2 6

 1
 x5 = K  kc1 . f1 ( x3 ) + kb1 .g1 ( x3 ) − (TL1 + r1 x2 ) 
 L1
 1
 x6 =  kc 2 . f 2 ( x4 ) + kb 2 .g 2 ( x4 ) − (TL 2 − r2 x1 ) 
 K L2
(3)

It can be rewritten by:

Int J Pow Elec & Dri Syst, Vol. 12, No. 1, March 2021 : 10 – 19
Int J Pow Elec & Dri Syst ISSN: 2088-8694  13

 0 0 0 0 C12 .r1 −C12 .r2 

 −C12 .r2   x1  0
 1  0
x 0 0 0 C12 .r1 0 0 0
x    
 2  0 0 0 0 −1 0   x2  0 0 0 0   u1 

 x3   0 0 0 0 0 −1   x3  1 0 0 0  u2  (4)
 = + + d ( x, t )
  x  0 .
.
 x4   −r1 1 0 0  0 
0 0 0 0 0   4   
 x5   K L1   x5  0 0 0 0  0 
     x  0 
 x6  0 0 0 
0   6 
r2
 0 0 0 0
 KL2 

0 0 0 0 C12 r1 −C12 r2 
where: z1 =  x1 x2  ; z 2 =  x3 x6  ; A11 = 
T T
; A12 = 
 −C12 r2 
x4 x5
0 0 0 0 C12 r1

 0 0 
 0 0  0 0 −1 0 
 0
 −r  ;  0 0 −1
A21 =  1 0  A22 = 0 0 0 0
 K L1   
 r2  0 0 0 0
 0 
 KL2 

 0 
 
1 0 0 0
 0 
0 1 0 0  ; B =  0 0 0 0  1 
B2 = 
0 0 0 0
1 0
 0 0 0  d 2 ( z2 ,t ) =   kc1. f1 ( x3 ) + kb1.g1 ( x3 ) − TL1  
K
 L1 
 
0 0 0 0  1 
  kc 2 . f 2 ( x4 ) + kb 2 .g 2 ( x4 ) − TL 2 
 L2
K 

therefore, the tracking error model (4) can be represented as:

 0 0  0 0 C12 r1 −C12 r2 
 z1 =   z1 +  0 0 C r −C12 r2 
z2
  0 0   12 1
  0 0 
  0
  0  0 0 −1 0 (5)
 0 0
z =  − r 
 0 −1
 2 
1
0  z + z 2 + B2 u + d 2 ( z2 , t )
 K 
1
0 0 0 0
 L1
 
  r2  0 0 0 0
  0 
  K L2 

Consider the sliding variable s ( e ) = e − A12T P ( e1 ) (6)

where e = zref − z and  ( e1 ) = −  e1 ,  =  H I  ,

 −1

the finite time sliding mode control law is proposed as described in the following Theorem 1.
Theorem 1: Consider the system (5) with the disturbance (𝑑2 (𝑧, 𝑡)) being bounded by d 2 and the SMC is
given as;

𝑢(𝑡) = 𝑢𝑛 (𝑡) − 𝐵2−1 𝑢𝑠 (𝑡) (7)

in which un ( t ) = − B2−1  Az − A12T P d ( e1 ) −  z d  , us ( t ) = d 2 sgn ( s ( e ) ) +  sgn ( s ( e ) ) s ( e ) +  s ( e ) ,  ;  are



 dt 
the positive constant numbers. The proposed SMC enables us to obtain the finite-time Input State Stability
(ISS) stability.
Proof : The Proof is divided into two steps.

On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
14  ISSN: 2088-8694

In Step 1, we prove that the closed system reaches to the sliding surface in finite time:
Based on the Lyapunov candidate function using the sliding variable as:

V2 ( s ( e ) ) =
1 T
s (e) s (e) (8)
2

taking the time derivative of this Lyapunov function along the systems (5), we obtain:

dg ( e1 )
V2 ( s ( e ) ) = sT ( e ) s ( e ) = sT ( e )( Hz1 − A12T P + A21 z1 + A22 z 2 + B2 u − H z1d − z 2 d + d 2 ( z , t ) )
dt (9)
 dg ( e1 ) 
= s ( e )  Az − A12T P
T
+ B2 u −  z d + d 2 ( z , t ) 
 dt 

substituting (7) into (9) gives:

V2 ( s ( e ) ) = sT ( e )  sgn ( s ( e ) ) s ( e ) − sT ( e )  s ( e )

(10)
− sT ( e ) d 2 sgn ( s ( e ) ) + sT ( e ) d 2 ( z , t )

according to d 2  ( d 2 ( z , t ) )max , we have:

V2 ( s ( e ) )  −min ( ) s ( e ) − min ( ) s ( e ) = − 2V2 ( s ( e ) ) −  2V22 ( s ( e ) )

2  +1
(11)

Choose  2 = 2min ( )  0,  2 = 2( +1) / 2 min ( )  0, 2 = ( + 1) / 2  1 , according to the inequality (11),

the closed system reaches to sliding surface in finite time given as (12):

( )
1−2
1  2V2 s ( e ( t0 ) ) + 2
tr 2 = ln (12)
 2 (1 − 2 ) 2

where

( )
V2 s ( e ( t0 ) ) = (1/ 2 ) sT ( e ( t0 ) ) s ( e ( t0 ) ) (13)

In Step 2, once the closed system trajectory reaches the sliding surface, the errors converge to
attraction region in finite time. Consider the closed system in the sliding surface s ( e ) = e − A12T P ( e1 ) = 0 .
Choose  and k are constant coefficients, in which f (t)   ; e  k . The parameters   0 , 1  0 và
2  0 and the matrices X  0, Q  0, W  0, G  0 and Y are chosen to satisfy the following Linear
Matrix Inequalities (LMIs):

 A11 X + XA11T − A12Y − Y T A12T + Q X 

 0 (14)
 X −W 

 −2  A12 A12T X
 0 (15)
 X G

1 I 22 − Q  0 (16)

2 I 22 − W  0 (17)

2

1 − 2  0 (18)
k2

Int J Pow Elec & Dri Syst, Vol. 12, No. 1, March 2021 : 10 – 19
Int J Pow Elec & Dri Syst ISSN: 2088-8694  15

Then the system (5) is stabilized in finite time with the attraction region e1 ( t )  k . The Proof is
similarly implemented as above step with the corresponding Lyapunov Function V1 (e1 ) = e1T Pe1 , P = X −1

3.2. High-gain observer control design of multi-motor systems

As described in [25], it is hard to find the observer for multi-output systems because the data
collection needs to be implemented in the sufficiently small interval as well as employing the taylor series
approximation. Therefore, the high-gain observer was proposed by [15] enabling us to deal with multi-output
systems. Consider the class of nonlinear uniformly observable systems:

 z = f ( u, z ) + 

 (19)
 y = Cz = z

1

n
where the state variables z  Rn with z k  Rn ; k = 1, 2,3,...., q; n1  n2  ...nq ;  nk = n , the input u  U is a
k

k =1

compact set of Rm, the output variables y  R n . 1

 f1 (u, z1 , z 2 )  0 
 z1     
 2  f 2 (u, z , z , z ) 
1 2 3
 
z 
z =   ; f ( u, z ) =  ; =  0 ;C = I , 0
 ,..., 0n1 nq 
   n1 n1 n2 
   f q −1 (u, z)    q −1 
 zq     q 
  0 
   

C =  I n1 , 0n1 n2 ,..., 0n1 nq 

 

This above system also satisfies several assumptions as described in [15]. It is hard to find directly
the High-Gain observer for model (19), so that it can be transferred into the following form to easier design
based on the transformation as follows:

 z1 
 
 f1 (u, z1 , z 2 )   = A +  (u,  ) + z 
We imply 
0
 f1 (.) f (u, z1 , z 2 , z3 )  ; and continue to find
0 : →  =  0 (z) =  z 
2
 y = C = 
n n1q 2
,z 1
 
 
  q − 2 fk (.)  
   z k +1  f q −1 (u, z) 
  i =1  
the intermediate observer [15]:
ˆ = Aˆ +  (u, ˆ) − −1S −1CT  −1 − (u, ˆ)−1S −1CT  −1 . Because 0−1 A = A và C 0 = C then employing
 = 0 , we obtain the dynamic equation of observer errors:
 0
 =  (A − S−1CT C) +  ( (u, ˆ)) −   −  (u, ˆ)−1C T  1 . In order to analyze the observer errors,
z
selecting the candidate function V1 ( ) =  T S , take the derivative of this function along the system
trajectory of transformed systems:
   0 (u,  c0 (ˆ)) max (s)
V1  −V1 + 2 2 (S)     +  1  + 0  where  (S) =
 min (s)   z min (s)

based on the work in [15], we imply that:

c2
V1  − ( − c1 )V1 +  V1 (20)
 q −1

the fact that is the following selections:  = blockdiag (In1 , 1 In1 ,...,  q1−1 In1 )

On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
16  ISSN: 2088-8694

ˆ is the left inverse of block diagonal matrix (z)

+ (z) ˆ with
 f (u, zˆ1 , zˆ 2 ) q −1
ˆ 
f (u, z)
(z)
ˆ = blockdiag  I n , 1 ,...,  k k +1  where S is the positive definite solution of the algebraic
  ˆ
z
1 2
i =1  ˆ
z 
Lyapuov equation (21):

S + AT S + SA − CT C = 0 (21)

comeback to the model (19), the equivalent observer can be determined as (22):

+
 (z)
ˆ 
zˆ =   (ˆ ) = f(u, z)
ˆ −  + (z)
ˆ −1 S −1C T C (zˆ − z) (22)
 z 

although implementing the observer intermediately, we still obtain the direct result (23):

  C1q I n1 
 
+
 2 q  f1  
  C2  2 (u, z)  
  x  
 (z)
+ −1 −1 T
ˆ  S C = (23)
 
 
+
 q q  q −1 f  
  Cq  kk+1 (u, z)  
  i =1 z  

j!
where S (i, j) = (−1)i + j Ci j+−j1− 2 I n1 with C ij =
;1  i, j  q
i !(j− i)!
in order to find control design appropriate HGO for multi-motor systems (1), we need to implement
alternately:
Consider the following multi-motor systems:

 1
 x1 = T (u − x2 )

  1 
 x2 = J L  K f1 ( x1 ) + K C (u − x2 ) f 2 ( x1 ) − (TL + r.x3 ) 
  TC 
  
 x3 = C12  r1 x21 − r2 x22 (1 + 1 x3 ) 
  C12 .l 

 y = x3

where

 x11   1   x21  r1   x31   F21 

x1 =   =  
2
; x2 =   =    2
; x3 =   =    2

 x12   2   x22  r 2   x32   F12 

according to the result (22), we obtain the equivalent observer:

 1
 xˆ1 = T (u − xˆ 2 ) − 3 (xˆ 3 − x3 )

  1  2
 xˆ2 = J L  K f1 ( xˆ1 ) + K C (u − xˆ2 ) f 2 ( xˆ1 ) − (TL + r.xˆ3 )  + T ( xˆ3 − x3 ) (24)
  TC 
  1 
 xˆ3 = C12  r1 xˆ21 − r2 xˆ22 (1 + xˆ3 )  + rJ L ( xˆ3 − x3 )
3

  C12 .l 

 y = x3

Int J Pow Elec & Dri Syst, Vol. 12, No. 1, March 2021 : 10 – 19
Int J Pow Elec & Dri Syst ISSN: 2088-8694  17

4. OFFLINE SIMULATION RESULTS

To clearly validate the efficacy of the proposed output feedback control scheme, a multi-motor
driving system is established in Figure 1, which shows the physical meaning of parameters as well as the
completed control system. The simulation results in Figures 2 and 3 describe the behavior of tension and
velocities when the load is changed from TL1=100 Nm to TL2=50 Nm. It should be noted that the comparison
between the response using proposed solution and the classical approaches has been investigated.
Furthermore, the simulation results in Figure 4 show the response of proposed high gain observer in Multi-
Motor systems.

Figure 1. The structure of multi-motor control system

(a) (b)

Figure 2. (a) The response of tension PID with the load variation (b) The response of tension LMI-SMC with
the load variation

On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)
18  ISSN: 2088-8694

(a) (b)

Figure 3. (a) The response of speed PID with the load variation (b) The response of speed LMI-SMC with the
load variation

(a) (b)

Figure 4. The response of observer, (a) tension observer, (b) speed Observer, with gear gap 𝛼=0.15 rad
(8,590)

5. CONCLUSION
To deal with the multi-motor systems in presence of nonlinear property, backlash, elastic, the finite
time sliding mode controller combining with high gain observer is developed in this work. The convergence
time of SMC is clearly estimated by LMI technique and the observer is dealt with multi-output systems. The
proposed controller is validated via simulations in comparison with existing solution.

ACKNOWLEDGEMENTS
This research was supported by Research Foundation funded by Thai Nguyen University of Technology.

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On finite-time output feedback sliding mode control of an elastic multi-motor system (Pham Tuan Thanh)