Adaptive Predefined-Time Synchronization and Tracking Control for Multimotor Driving Servo Systems

This article proposes a predefined-time synchronization and tracking control strategy for multimotor driving servo systems. First, a mean relative coupling synchronization controller is constructed with predefined-time convergence, such that the convergence time can be preset by adjusting one parameter and does not rely on initial states. In order to avoid the singularity problem, a predefined-time command filtered backstepping tracking controller is designed to reduce the computational complexity and ensure that the tracking error can converge into a neighborhood near the origin within a predefined time. Experiments are conducted to verify the efficiency of the proposed method.