Hello!
I made up this circuit on a breadboard. I am using 20kHz PWM signal to switch it, which works fine. Resistive loads work nicely, but when I connect a DC motor to it, things go south.
Here you can see the circuit:
Looks like the PWM drive pulses have the wrong timing.
What is your plan for "shoot-through"?
Keep in mind that highly trained EEs usually fail, and sometimes spectacularly, on their first few attempts at making H-bridges, which is why forum members strongly recommend to buy commercial H-bridge modules. They actually work!