Fixed-time Funnel Sliding Mode Control for Dual-motor Driving System

A fixed-time funnel sliding mode control strategy is developed for a dual-motor driving system, which ensures the system converges within a fixed time. Firstly, the coupling error is introduced by combining the reference tracking process with the motor synchronization process. By using a selected funnel function, the system can achieve satisfactory transient performance. Secondly, the concept of multi-surface sliding modes is designed to deal with the tracking issue so that the system can converge in a fixed-time regardless of the motor's initial state. Finally, the effectiveness of this strategy is demonstrated through a simulation example.