Leader-following control of multi-motor systems based on the consistency theory under the network environment

摘要

Based on the consistency theory of multi-agent systems, this paper solves the synchronous control of multiple motors in the network environment from the point of leader-following control. The impact of network delays on the synchronization control is considered. Each motor is treated as an agent, and each agent can only get the output information from its neighbors. In this condition, this paper studies the synchronous control of multi-motor systems in the undirected networks with switching topologies. In order to avoid the impact of network delays on the synchronous control of motors, this paper proposes a delay consistency control protocol with a distributed observer. Lyapunov stability theory is used to prove that if a single motor is controllable and observable, the multi-motor systems can achieve the leader-following consistency when network connections meet a simple topology. Finally, the simulation experiments verify the correctness and validity of the method proposed in this paper.