Finite-Time Consensus Tracking Control for Speed Sensorless Multi-Motor Systems

Abstract

Considering the unknown compound interference in manufacturing systems, the finite-time tracking and synchronization performance of the multi-motor system significantly affects the production safety, reliability, and quality, which can be considered a multi-agent system with unmeasured speed and uncertainty. In recent years, the synchronous control schemes of the multi-motor system have grown to maturity, but the research on the speed sensorless finite-time consensus tracking control remains to be extended. This paper proposes an observer-based leader–follower consensus tracking control for the synchronous coordination control of the multi-motor system. The speed and position of all motors can be tracked by consensus in a finite time when only some motors realize partial interaction. First, a finite-time observer is designed to estimate the unknown composite disturbance and unmeasurable speed variable of each motor. Second, the distributed finite-time consensus tracking control protocol is designed using the observed value and local information interaction. The stability of the overall closed-loop system is theoretically analyzed based on Lyapunov theory and graph theory, which shows that the consensus tracking error converges to an arbitrary small neighborhood of zero, and all signals are globally bounded in finite time. Finally, simulation results are provided to illustrate the effectiveness of the proposed control method.