Observer-based event-triggered networked multi-drives speed consensus

The problem of having an identical speed when dealing with multiple motors always exists in the industry. There are several methods to address the problem, but all the methodologies have two common drawbacks. Firstly, the control design requires continuous information on the desired speed and the actual speed of motors; secondly, it is sometimes difficult to directly measure the speed variables. In the proposed study, both of these drawbacks are addressed by designing an observer-based event-triggered networked multi-agent system. The proposed method uses the leader following consensus approach with a centralized event triggering control design so that whenever a follower's speed diverges from that of the leader, an event is triggered, which communicates and resets all the agents to the leader's speed. Moreover, an observer is designed such that the ith agent uses its jth neighbor agent and observer speed information to estimate the leader's speed. The stability of the proposed design is formulated by Lyapunov stability, while the simulation results endorse the design concepts and energy saving.