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

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 Hamilton-Jacobi-Bellman function. Simulation and experimental results reveal the flexibility of the proposed control scheme.