Finite-time consensus tracking for large-scale multi-motor system based on second-order communication topology

Abstract

This paper proposes a finite-time consensus tracking algorithm for a large-scale multi-motor system (LSMMS), which is extremely meaningful for modern automatic product lines to run continuously with high precision and efficiency. A second-order communication topology inspired by the social structure is proposed to reduce the computational complexity of the system and make it more suitable for product lines with a vast amount of motors that need to be controlled. Then, the finite-time consensus controller based on second-order communication topology for LSMMS is designed using the backstepping method, making the time costs in the tracking errors of position and velocity converging to zero finite. Simulation is given to illustrate the effectiveness of the proposed approach.