Observer-Based Adaptive Integral Control for Multi-motor Drive Systems

This paper deals with the problem of unknown system state and the effect of steady-state error for multi-motor drive systems. Due to the existence of unknown nonlinearity, a robust observer with neural network is proposed to estimate the system state. To improve the steady-state performance, the integrator is introduced in the controller design to eliminate the steady-state error and get rid of the vibration. Based on mean relative coupling structure and dynamic surface control, a synchronization control method and tracking control scheme are proposed with integrator. The effectiveness of designed control methods is illustrated by simulation results.