Finite-time synchronization control for multi-motor driving systems with input saturation via privacy-preserving observers

Abstract This article explores the privacy-preserving synchronization control problem of multi-motor driving systems. A privacy-preserving observer (PPO) using state decomposition is introduced to ensure motors’ state synchronization and information security during network transmission. To enhance convergence speed and estimate unknown disturbances, a finite-time extended state observer (FTESO) is proposed. Then, an adaptive control protocol based on a back-stepping strategy and barrier Lyapunov function is developed to ensure that the synchronization error converges to zero within a finite time. Finally, the effectiveness of the proposed method is demonstrated through a numerical example.