Finite-time robust position tracking control for DC motors under uncertain dynamics

Introduction. This study proposes a finite-time robust control law for position tracking of a DC motor under conditions of model uncertainty and external disturbances. The motor operates through a pulse-width modulation (PWM) unit and an H-bridge power circuit, aiming to achieve finite-time position tracking while minimizing the effects of model uncertainties and external disturbances. Problem. The main challenge lies in achieving accurate and rapid position and speed regulation for the DC motor while maintaining high performance, despite model inaccuracies and external disturbances. The goal of this paper is to design a robust finite-time position tracking control law for a DC motor based on the differential geometric approach, ensuring high tracking accuracy and control efficiency in the presence of disturbances and parameter uncertainties. Scientific novelty. The integration of finite-time control based on a virtual system, diffeomorphism transformation, and disturbance compensation introduces an innovative solution for DC motor position tracking under incomplete modeling and external perturbations. Methodology. The study employs the differential geometric method to construct a