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

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