Event-Triggered Tracking and Synchronization Control for Multimotor Driving Systems via Command Filtering Technique

In the application of multimotor driving systems, achieving high control performance while reducing the occupation of communication networks holds practical significance. This article proposes an event-triggered fixed-time command filtered control strategy that not only facilitates load tracking and motor synchronization but also conserves communication resources. In tracking control design, the fixed-time control is incorporated into the backstepping procedure to accelerate convergence rate and improve tracking precision. Command filters are utilized to reduce computational complexity, and a compensation mechanism with double powers is constructed to eliminate filtering errors. In synchronization control design, a practical grouping control approach tailored for four motors is proposed, with control inputs superimposed on current commands to quickly achieve speed synchronization and reduce mechanical abrasion. Subsequently, an event-triggered mechanism is designed for the final composite control signal, which greatly conserves communication resources while maintaining desirable performance. The closed-loop system is proven to be practical, fixed-time stable, and free of Zeno behavior. Experiments conducted on a four-motor driving turntable demonstrate the effectiveness of the proposed strategy.