Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(1): 72-83

https://doi.org/10.1007/s12555-022-0276-4

© The International Journal of Control, Automation, and Systems

Disturbance Observer-based Finite-time Optimal Synchronization Control for Multi-motor Driving Servo Systems

Shuangyi Hu, Xuemei Ren*, and Dongdong Zheng

Beijing Institute of Technology

Abstract

In this paper, a disturbance observer-based finite-time optimal synchronization control strategy is proposed with an adaptive bias torque for multi-motor driving servo systems. Finite time disturbance observers are designed to estimate the system nonlinearity and external disturbance, which ensure the finite time convergence of observation errors. Meanwhile a virtual tracking control input is designed to guarantee the output tracking of the load subsystem and a generalized synchronization error is obtained for the motor subsystem. Based on the synchronization error system, an auxiliary exponential function with finite-time convergence property is introduced to obtain the sufficient conditions for optimal synchronization control, which avoids solving the complex HamiltonJacobi-Bellman function. Simulation and experimental results reveal the flexibility of the proposed control scheme.

Keywords Disturbance observer, finite-time control, multi-motor driving servo system, optimal synchronization control.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(1): 72-83

Published online January 1, 2024 https://doi.org/10.1007/s12555-022-0276-4

Copyright © The International Journal of Control, Automation, and Systems.

Disturbance Observer-based Finite-time Optimal Synchronization Control for Multi-motor Driving Servo Systems

Shuangyi Hu, Xuemei Ren*, and Dongdong Zheng

Beijing Institute of Technology

Abstract

In this paper, a disturbance observer-based finite-time optimal synchronization control strategy is proposed with an adaptive bias torque for multi-motor driving servo systems. Finite time disturbance observers are designed to estimate the system nonlinearity and external disturbance, which ensure the finite time convergence of observation errors. Meanwhile a virtual tracking control input is designed to guarantee the output tracking of the load subsystem and a generalized synchronization error is obtained for the motor subsystem. Based on the synchronization error system, an auxiliary exponential function with finite-time convergence property is introduced to obtain the sufficient conditions for optimal synchronization control, which avoids solving the complex HamiltonJacobi-Bellman function. Simulation and experimental results reveal the flexibility of the proposed control scheme.

Keywords: Disturbance observer, finite-time control, multi-motor driving servo system, optimal synchronization control.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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