Event-triggered adaptive finite-time synchronization control for dual-motor servo systems with uncertainties and torque disturbance

In this paper, a finite-time adaptive synchronization control strategy based on event-triggered mechanism (ETM) is investigated for the dual-motor servo systems with uncertainties and torque disturbances. The finite-time differentiators are utilized to estimate the first-order derivatives of the virtual control signals during the backstepping control design process. This not only avoids the problems of singularity and severe consumption of computing resources, but also ensures the finite-time fast convergence and high-precision tracking performance of the systems. Meanwhile, the event-triggered actual controllers including a decreasing function of the synchronization errors are studied to save network communication resources while avoiding the Zeno phenomenon. Moreover, the number of triggers is positively correlated with the size of the synchronization errors, which reduces the impact of the synchronization errors on the tracking control performance and saves communication resources more efficiently. The high synchronization between two motors and the stability of the resulting closed-loop system are also demonstrated by constructing new Lyapunov functions. Finally, the effectiveness of the proposed scheme is verified by simulation experiment.