Fixed-Time Cooperative Sliding Mode Control for Synchronization of Multilinear Motor Systems

For multiagent systems containing multilinear motors, this study proposes a fixed-time cooperative sliding mode control (FTCSMC) strategy coupled with a fixed-time disturbance observer to achieve speed consistency. First, a fixed communication topology is considered to enable each follower to access leader and neighbor information according to the topology. Furthermore, unlike traditional finite-time control methods, the FTCSMC strategy presented in this research enables speed consistency between the follower and the leader within a fixed-time frame, disconnected from the agents’ initial states. Subsequently, by rationally designing the Lyapunov equation, the fixed-time stability of the entire system can be established. Finally, after conducting several simulations and experiments, it was demonstrated that the FTCSMC exhibited certain advantages over the distributed proportional integral control methods and distributed finite-time control methods.