Four-Motor Servo System Command-Filtered Synchronous Control Based on Feedback Channel Event-Triggered Mechanism

To reduce the communication load and improve the operational efficiency of multi-motor-driving systems, this paper proposes a feedback channel event-triggered fixed-time command-filtered synchronous control strategy. By adaptively determining the feedback information update instants through monitoring motor speed variations, the proposed method significantly reduces communication frequency while maintaining high-precision tracking and synchronization performance, thereby lowering communication energy consumption. Meanwhile, the improvement in multi-motor synchronization performance effectively avoids mechanical impacts and additional energy losses caused by speed mismatch, further enhancing electromechanical energy conversion efficiency. Based on fixed-time inversion and command-filtered techniques, system states are driven to converge within a finite time, and a compensation mechanism is introduced to eliminate filtering errors. Theoretical analysis demonstrates that the resulting closed-loop system achieves practical fixed-time stability without exhibiting Zeno behavior. The experimental results show that the triggering ratio of the system is 25.2964%, significantly reducing communication time and saving system resources. Based on this, the proposed method not only ensures the tracking accuracy and synchronization performance of the system but also effectively reduces communication burden and energy consumption, thereby improving the overall system efficiency.