OBSERVER BASED FINITE-TIME CONSENSUS BY INTEGRALSLIDING MODE CONTROL FOR MULTIPLE PERMANENT MAGNETLINEAR SYNCHRONOUS MOTORS

The finite-time tracking and synchronization performance of multi-motorsystems is essential to ensuring safety, reliability, and quality in manufacturing systems'production processes due to the presence of unknown compound disturbance. This paperproposes a consensus tracking control method based on integral sliding mode control forachieving coordination control of multiple linear motor systems with disturbance. First-ly, the distributed consensus tracking control protocol is adopted to optimize trackingand synchronization performance. Secondly, an integrated sliding mode controller is in-troduced to enhance the stability and robustness of the system. Moreover, consideringthe potential impact of disturbances on the system, we propose a nonlinear disturbanceobserver to estimate and compensate for the disturbances. This observer serves as afeedforward compensation component for the controller. Then, the effectiveness of theproposed method is subsequently verified using the Lyapunov stability theory. The sug-gested algorithm demonstrates efficient performance in terms of synchronization controlaccuracy, disturbance immunity, and convergence, as illustrated by the simulation resultsin the end.