Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control

Quntao An; Chengmin Bian; Lizhi Sun

doi:10.1109/CIEEC69682.2026.11572191

Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control

Quntao An^*
, Chengmin Bian
, Lizhi Sun

^*Corresponding author for this work

School of Electrical Engineering and Automation, Harbin Institute of Technology
Shenzhen Technology University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes an improved position-velocity integrated sliding mode active disturbance rejection control (ISM-ADRC) for permanent magnet synchronous motors (PMSMs) under uncertainties, aiming to enhance position tracking and disturbance rejection. ISM-ADRC constructs a unified sliding surface via a tracking differentiator and optimizes the control law using absolute position error as the exponential reaching law coefficient, enabling coordinated position-velocity control. A linear-nonlinear cascaded extended state observer (ESO) is adopted to ensure stability under major disturbances and compensate estimation residuals, forming a broad-range adaptive observation mechanism. Stability and disturbance observation capability are analyzed, and experimental results verify its superior performance over typical P-PI-PI control and conventional ADRC.

Original language	English
Title of host publication	Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1083-1088
Number of pages	6
ISBN (Electronic)	9798331549558
DOIs	https://doi.org/10.1109/CIEEC69682.2026.11572191
State	Published - 2026
Externally published	Yes
Event	9th International Electrical and Energy Conference, CIEEC 2026 - Tianjin, China Duration: 15 May 2026 → 17 May 2026

Publication series

Name	Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026

Conference

Conference	9th International Electrical and Energy Conference, CIEEC 2026
Country/Territory	China
City	Tianjin
Period	15/05/26 → 17/05/26

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

active disturbance rejection control
cascaded extended state observer
permanent magnet synchronous motor
position and speed integration
sliding mode control

Access to Document

10.1109/CIEEC69682.2026.11572191

Cite this

An, Q., Bian, C., & Sun, L. (2026). Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control. In Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026 (pp. 1083-1088). (Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIEEC69682.2026.11572191

An, Quntao ; Bian, Chengmin ; Sun, Lizhi. / Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control. Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 1083-1088 (Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026).

@inproceedings{8a29d0b7fbfe4cd989f867688807a6e8,

title = "Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control",

abstract = "This paper proposes an improved position-velocity integrated sliding mode active disturbance rejection control (ISM-ADRC) for permanent magnet synchronous motors (PMSMs) under uncertainties, aiming to enhance position tracking and disturbance rejection. ISM-ADRC constructs a unified sliding surface via a tracking differentiator and optimizes the control law using absolute position error as the exponential reaching law coefficient, enabling coordinated position-velocity control. A linear-nonlinear cascaded extended state observer (ESO) is adopted to ensure stability under major disturbances and compensate estimation residuals, forming a broad-range adaptive observation mechanism. Stability and disturbance observation capability are analyzed, and experimental results verify its superior performance over typical P-PI-PI control and conventional ADRC.",

keywords = "active disturbance rejection control, cascaded extended state observer, permanent magnet synchronous motor, position and speed integration, sliding mode control",

author = "Quntao An and Chengmin Bian and Lizhi Sun",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 9th International Electrical and Energy Conference, CIEEC 2026 ; Conference date: 15-05-2026 Through 17-05-2026",

year = "2026",

doi = "10.1109/CIEEC69682.2026.11572191",

language = "英语",

series = "Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1083--1088",

booktitle = "Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026",

address = "美国",

}

An, Q, Bian, C & Sun, L 2026, Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control. in Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026. Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026, Institute of Electrical and Electronics Engineers Inc., pp. 1083-1088, 9th International Electrical and Energy Conference, CIEEC 2026, Tianjin, China, 15/05/26. https://doi.org/10.1109/CIEEC69682.2026.11572191

Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control. / An, Quntao; Bian, Chengmin; Sun, Lizhi.
Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 1083-1088 (Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control

AU - An, Quntao

AU - Bian, Chengmin

AU - Sun, Lizhi

PY - 2026

Y1 - 2026

N2 - This paper proposes an improved position-velocity integrated sliding mode active disturbance rejection control (ISM-ADRC) for permanent magnet synchronous motors (PMSMs) under uncertainties, aiming to enhance position tracking and disturbance rejection. ISM-ADRC constructs a unified sliding surface via a tracking differentiator and optimizes the control law using absolute position error as the exponential reaching law coefficient, enabling coordinated position-velocity control. A linear-nonlinear cascaded extended state observer (ESO) is adopted to ensure stability under major disturbances and compensate estimation residuals, forming a broad-range adaptive observation mechanism. Stability and disturbance observation capability are analyzed, and experimental results verify its superior performance over typical P-PI-PI control and conventional ADRC.

AB - This paper proposes an improved position-velocity integrated sliding mode active disturbance rejection control (ISM-ADRC) for permanent magnet synchronous motors (PMSMs) under uncertainties, aiming to enhance position tracking and disturbance rejection. ISM-ADRC constructs a unified sliding surface via a tracking differentiator and optimizes the control law using absolute position error as the exponential reaching law coefficient, enabling coordinated position-velocity control. A linear-nonlinear cascaded extended state observer (ESO) is adopted to ensure stability under major disturbances and compensate estimation residuals, forming a broad-range adaptive observation mechanism. Stability and disturbance observation capability are analyzed, and experimental results verify its superior performance over typical P-PI-PI control and conventional ADRC.

KW - active disturbance rejection control

KW - cascaded extended state observer

KW - permanent magnet synchronous motor

KW - position and speed integration

KW - sliding mode control

UR - https://www.scopus.com/pages/publications/105044586207

U2 - 10.1109/CIEEC69682.2026.11572191

DO - 10.1109/CIEEC69682.2026.11572191

M3 - 会议稿件

AN - SCOPUS:105044586207

T3 - Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026

SP - 1083

EP - 1088

BT - Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 9th International Electrical and Energy Conference, CIEEC 2026

Y2 - 15 May 2026 through 17 May 2026

ER -

An Q, Bian C, Sun L. Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control. In Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 1083-1088. (Proceedings of 2026 IEEE 9th International Electrical and Energy Conference, CIEEC 2026). doi: 10.1109/CIEEC69682.2026.11572191

Enhanced Position Control of PMSM Based on Improved Sliding Mode Active Disturbance Rejection Control

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this