Coordinated finite-time control of multiple motors with saturation constraints

A multi-motor coordinated tracking control strategy based on a disturbance sliding-mode observer and an anti-saturation non-singular fast-terminal sliding mode is proposed to address the issues of slow convergence and controller output saturation in multi-motor coordinated control systems. Firstly, a mathematical model of a multi-motor traction system considering uncertain parameter perturbations, external disturbances, and dead zones was established. Secondly, a disturbance sliding-mode observer was designed based on the mathematical model to eliminate motor disturbances and estimate the torque. The observer's forward compensation was added to design a total-consensus-based fast non-singular terminal sliding-mode controller. Then, a fast anti-saturation auxiliary system with fast finite-time convergence was constructed. Finally, a comparative experiment was conducted with traditional anti-saturation sliding-mode control to demonstrate that the proposed method had faster convergence, stronger disturbance rejection, and better tracking performance in the presence of multi-motor parameter perturbations, unknown disturbances, and input saturation.