Robustness Analysis for Multi-Agent Consensus Systems with Application to DC Motor Synchronization

被引：2
作者：
Olivares, Daniel [1 ]
Romero, Gerardo [2 ]
Guerrero, Jose A. [3 ]
Lozano, Rogelio [4 ,5 ]
机构：
[1] Tecnol Nacl Mexico, Dept Elect & Elect Engn, Inst Tecnol Nuevo Laredo, Nuevo Laredo 88000, Tamaulipas, Mexico
[2] Univ Autonoma Tamaulipas, Elect Dept UAM Reynosa Rodhe, Reynosa 88779, Tamaulipas, Mexico
[3] Univ Clermont Auvergne, Inst Pascal, CNRS, SIGMA Clermont, F-63000 Clermont Ferrand, France
[4] Sorbonne Univ, UTC, CNRS, UMR 7253, Heudiasyc, France
[5] UMI LAFMIA 3175 CNRS CINVESTAV, Mexico City 07360, DF, Mexico
来源：
APPLIED SCIENCES-BASEL | 2020年 / 10卷 / 18期
关键词：
multi-agent systems; consensus; synchronization; DC motors; time delay systems; robust control; STABILITY; ALGORITHMS;
D O I：
10.3390/app10186521
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
DC motor speed synchronization is a critical problem in industrial and robotic applications. To tackle this problem, we propose to use a multi-agent consensus-based control scheme that guarantees the convergence of the DC motor speeds to either fixed or time-varying reference. A detailed robustness analysis considering parametric uncertainty and time delay in the multi-agent system is performed to guarantee the consensus on the speed of DC motors in actual practice. The results obtained concerning the robustness analysis allowed us to implement experimental tests on a three-motor system using a wireless communication system to achieve satisfactory performance.
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页数：18
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