Adaptive Immersion and Invariance Tracking and Synchronization Control for Multi-motor Driving Systems with Parameter Uncertainties

In this article, a novel tracking and synchronization control strategy is proposed for multi-motor driving systems with unknown parameters. The proposed control strategy includes two sub-controllers: the adaptive immersion and invariance (I&I) tracking controller and the robust integral of the sign of the error (RISE) synchronization controller. The adaptive tracking controller is designed based on the I&I methodology to compensate the parameter uncertainties, in which the modified funnel variable is utilized to guarantee the tracking error within a prescribed boundary. The synchronization controller is constructed via RISE technique for the disturbance rejection to guarantee the multi-motor synchronization. The proposed control scheme can achieve the load tracking and multi-motor synchronization, simultaneously. The experimental results have been performed on a four-motors driving system to validate the efficiency of the developed control method. Moreover, the comparison of five different controllers is made to demonstrate the benefits of the developed control strategy using the identical reference trajectories.