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中文摘要：
为提高终端滑模控制中状态变量的全局快速收敛性，提出一种自适应变速指数趋近律。该趋近律引入状态变量的一阶范数，根据状态变量距离平衡点的远近自适应调整指数趋近速度和等速趋近速度，从而实现缩短趋近时间的同时削弱系统抖振。应用该趋近律设计无轴承永磁同步电机（BPMSM）转子速度及径向位移非奇异终端滑模控制器，仿真结果表明，该方法能快速地跟踪转速及径向位移给定值，系统超调及稳态静差小，具有较强的鲁棒性。
英文摘要：
In order to obtain faster convergence of state variables during the whole process in terminal sliding mode control（TSMC）, an adaptive variable-rated exponential reaching law is presented, where the ？？1 norm of state variables is introduced. Exponential and constant approach speed can adaptively adjust according to the state variables’ distance to the equilibrium position, which can shorten the reaching time and weaken system chattering. The method is applied to the bearingless permanent magnet synchronous motor（BPMSM） system. Its speed and the radial displacement controller of adaptive nonsingular terminal sliding mode control（NTSMC） are designed. Simulation results show that, the proposed method can rapidly track the given values, overshoot and static error are small, and higher robustness can be obtained.
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Dynamic decoupling control of electro-spindle supported by AC hybrid magnetic bearings based on neur
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