Finite-time Consensus Tracking for Multi-motor System Based on Sliding Mode Control
Tao Zhang, Dengxiu Yu, Zhen Wang, Xiaoyue Jin, Shengjin Li, Feiping Du · 2021
This study investigates a finite-time consensus tracking algorithm for synchronous coordination control of a multimotor system (MMS), which is extremely meaningful to some practical applications with the demand of high-precision performance and stringent convergence time. The graph theory is applied to realize the system modeling of the relationship between the internal parameters of MMS, which can reduce the complexity of the internal parameters of the system and make it more suitable for practical engineering. Then a distributed finite-time consensus controller based on sliding mode control for MMS is proposed, making the time costs in the reaching phase and sliding phase both finite. Simulations are given to illustrate the effectiveness of the proposed approach.