Discrete-Time Position Tracking Control for Multimotor Driving Systems via Multipower Terminal Sliding-Mode Technique

Xiang Wang, Baofang Wang, Xinkai Chen, Jinpeng Yu

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


With the popularization of computerized digital control systems, the discrete-time control design has attracted increasing attention. This article presents a novel discrete-time second-order multipower terminal sliding-mode control (DSMTSC) for the position tracking of multimotor driving servo systems. Instead of the traditional dynamic model, a discrete-time characteristic model, which possesses lower order and fewer parameters, is built based on the system input-output data. In the DSMTSC design, a multipower sliding function is constructed fitting different convergence stages, which achieves faster convergence rate and higher tracking precision than conventional terminal sliding functions. Furthermore, an improved reaching law is designed to avoid the integral saturation, and the high-order sliding-mode approach is utilized to reduce the chattering. The finite-step boundedness of both the sliding functions and the tracking error is proved by rigorous theoretical analysis. Comparative experiments are conducted on a four-motor driving servo turntable, and the results verify the advantages of the DSMTSC, which are particularly suitable for practical application.

Original languageEnglish
Pages (from-to)1158-1169
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
Publication statusPublished - 2024 Apr 1


  • Discrete-time modeling
  • multimotor driving system
  • multipower function
  • terminal sliding-mode control (SMC)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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