Predefined-Time Command Filtered Control for Tracking and Synchronization of Multi-Motor Servo Systems With Fuzzy Approximator

This brief proposes a predefined-time command filtered control strategy for multi-motor servo systems to facilitate high-performance tracking and synchronization. For load tracking, a predefined-time control approach is integrated within the backstepping framework, which accelerates the convergence rate and simplifies the adjustment of the convergence time. Command filters are utilized to obtain the derivatives of virtual control signals, and a compensation mechanism is developed to reduce filtering errors. Furthermore, a fuzzy logic system is constructed to estimate and counteract the frictional effect. For motor synchronization, a practical grouping control approach is designed for four motors, with control inputs overlaid on command signals of motor currents to rapidly realize synchronization of motor speeds. The predefined-time stability of the closed-loop system is demonstrated. The practicality and effectiveness of the proposed strategy are validated by experimental results.