多电机系统自适应非奇异固定时间同步控制

Adaptive Non-singular Fixed-time Synchronization Control for Multi-motor Systems

针对多电机位置同步控制系统,提出一种自适应非奇异固定时间位置同步控制方法。首先,根据位置跟踪误差与同步误差定义新的位置耦合误差,提出均值耦合同步策略,保证位置跟踪误差与同步误差的同步收敛。其次,设计非奇异终端滑模面和固定时间控制器,保证位置耦合误差在固定时间内收敛,且收敛时间上界与初始状态无关。同时,设计自适应估计律有效抑制外部扰动及不确定项对系统的影响,且无需已知干扰上界的先验知识。最后,通过四电机同步控制系统的仿真分析表明,该方法能够取得良好的同步跟踪效果,且收敛时间受初始状态影响较小。

In this paper,an adaptive non-singular fixed-time position synchronization control scheme is proposed for multi-motor synchronization control system.Firstly,a new position coupling error is defined,according to position tracking error and synchronization error,and the mean-coupling synchronization strategy is proposed to ensure the convergence of position tracking error and synchronization error.Secondly,the non-singular terminal sliding mode surface and fixed-time controller are designed,such that the position coupling error could converge within a fixed time,and the upper bound of the convergence time is independent on the initial states.Then,the adaptive estimate law is designed to eliminate the effect of external disturbances and uncertainties on the system without knowing priori knowledge on the upper bound of disturbances.Finally,the simulation of the four-motor synchronization control system shows that the proposed scheme can achieve the satisfactory synchronous tracking performance with the convergence time little affected by the initial states.