Finite-Time Funnel Synchronization Control Based on Distributed Observer for Multi-Motor Driving Systems With Input Saturation

Abstract In this article, the finite-time synchronization control problem is developed for multi-motor driving systems with input saturation. A radial basis function (RBF) neural network is utilized to estimate the unknown uncertainties and the disturbances. In contrast to current control strategies, this study proposes a new approach that utilizes a finite-time distributed observer to estimate the reference signal and then uses the estimated signal to design a synchronization controller, which effectively separates the tracking problem from the synchronous controller design. Furthermore, a funnel function is constructed to actualize the state constraints and confine the synchronization error within a specified boundary. Then, a finite-time funnel control protocol is proposed to ensure that each motor follows the estimated reference signal. Eventually, we illustrate the effectiveness of the proposed method through a numerical example.