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Firstly, coupling relationship between virtual and slave motors is effectively established by designing a velocity compensation module for the virtual motor. Secondly, the sliding mode observer (SMO) is used to reconstruct the composite disturbance composed of motor parameter perturbation and load disturbance. Finally, the variable gain terminal sliding mode controller (SMC) is designed to ensure that each slave motor can track the given value within a fixed time. The fast convergence of the system can be proved by the fixed\u2010time convergence theorem and Lyapunov\u2019s stability theorem. The simulation results show that, compared with the traditional virtual main\u2010axis control strategy, the proposed method is more effective for the tracking control of each slave motor in the initial stage.<\/jats:p>","DOI":"10.1155\/2021\/4113022","type":"journal-article","created":{"date-parts":[[2021,7,28]],"date-time":"2021-07-28T23:20:07Z","timestamp":1627514407000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Collaborative Control of Multimotor Systems for Fixed\u2010Time Optimisation Based on Virtual Main\u2010Axis Speed Compensation 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