Robust Synchronous Control of Multi-Motor Integrated With Artificial Potential Field and Sliding Mode Variable Structure

作者：Changfan Zhang, Mangang Niu, Jing He, Kaihui Zhao, Han Wu, Miaoying Zhang · 发表于：IEEE Access · 年份：2017 · DOI：10.1109/access.2016.2636224 · 被引用次数：28 · 研究领域：Distributed Control Multi-Agent Systems、Advanced Memory and Neural Computing、Reinforcement Learning in Robotics

This paper aims to study the issue of robust synchronous control of multi-motor. A scheme of synchronous motion based on the artificial potential field is proposed. In this scheme, a model of artificial potential field is constructed and by employing the methods for the flocking control and the sliding mode variable structure, the synchronous control is designed for the multi-motor system. Moreover, by using the Lyapunov method and the graph theory, the stability conditions of the controlled system and further the necessary conditions of multi-motor synchronous control are obtained. It shows that, under such designed control scheme, the robustness with respect to the variations of parameters and the synchronous performance of a multi-motor system can be improved. Finally, the simulation and experimental results illustrate the effectiveness of the proposed method.