RISE-Based Prescribed Performance Control for Multimotor Driving Systems

In this article, a novel approximation free control method was developed for multimotor driving systems with prescribed performance. The developed controller includes multimotor synchronization controller and the load tracking controller. First, the synchronous controller was designed by using the robust integral of the sign of the error to guarantee that all the motors states can converge their average value. Second, to achieve the load tracking control, an approximation free controller was developed based on the prescribed performance function. This method can avoid the function approximators and reduce the reduced computational burden and complexity. With the developed control strategy, the tracking error remains in a prescribed boundary, and the multimotor synchronous error achieves the asymptotic convergence. Finally, comparative experiments are conducted on a four-motor drive system to test the enhanced performance and robustness of the designed controller.