Structure/controller Co-design of Multi-motor Driving System with Fixed-time Dynamic Surface Backstepping Control

A structure/controller co-design scheme with a fixed-time dynamic surface backstepping control is presented in this paper. The co-design scheme is developed to optimize the structure parameter and the controller parameter simultaneously so that the overall system optimality can be guaranteed. The nested optimization strategy and the improved cuckoo search (CS) algorithm is employed to resolve the raised co-design problem. The fixed-time dynamic surface controller is developed to improve the dynamic performance of the system. The presented controller can converge in a fixed-time regardless of the initial state of the system. The tracking control and the synchronization control are both considered in the proposed control scheme. Experimental results demonstrate the efficacy of the proposed approach.