Abstract. Multi-motor drive systems are nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic, backlash. They have been widely used in many modern industries. The control law for this dive system much depend on the determining of the tension being hard to obtain this tension in practice based on a load cell or a pressure meter due to the accuracy of sensors or external disturbance. An emerging proposed technique in the control law is the use of adaptive sliding mode control scheme to stabilize closed system. However, the control system would be affected by chattering phenomenon. In order to eliminate this term, fuzzy technique is proposed by adjusting equivalent coefficients. The theory analysis and simulation results point out the good performance of the proposed fuzzy adaptive sliding mode control for the drive system.

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On the basis of the tracking multi-loop target angle coordinate system, the article has selected and proposed a interactive multi-model adaptive filter algorithm to improve the quality of the target phase coordinate filter. In which, the 3 models selected to design the line of sight angle coordinate filter; Constant velocity (CV) model, Singer model and constant acceleration model, characterizing 3 different levels of maneuverability of the target. As a result, the evaluation quality of the target phase coordinates is improved because the evaluation process has redistribution of the probabilities of each model to suit the actual maneuvering of the target. The structure of the filters is simple, the evaluation error is small and the maneuvering detection delay is significantly reduced. The results are verified through simulation, ensuring that in all cases the target is maneuvering with different intensity and frequency, the line of sight angle coordinate filter always accurately determines the target angle coordinates.