Adaptive Predefined-Time Synchronization and Tracking Control for Multimotor Driving Servo Systems
Shuangyi Hu, Qiang Chen, Xuemei Ren, Shubo Wang
Abstract
This article proposes a predefined-time synchronization and tracking control strategy for multimotor driving servo systems. First, a mean relative coupling synchronization controller is constructed with predefined-time convergence, such that the convergence time can be preset by adjusting one parameter and does not rely on initial states. In order to avoid the singularity problem, a predefined-time command filtered backstepping tracking controller is designed to reduce the computational complexity and ensure that the tracking error can converge into a neighborhood near the origin within a predefined time. Experiments are conducted to verify the efficiency of the proposed method.
Topics & Concepts
Control theory (sociology)Synchronization (alternating current)Computer scienceTracking (education)Control engineeringServoServo controlAdaptive controlServomechanismControl (management)EngineeringArtificial intelligencePsychologyChannel (broadcasting)Computer networkPedagogyIterative Learning Control SystemsControl Systems in EngineeringIndustrial Technology and Control Systems