Open AccessRobust Synchronous Control of Multi-Motor Integrated With Artificial Potential Field and Sliding Mode Variable Structure
Author(s) -
Changfan Zhang,
Mangang Niu,
Jing He,
Kaihui Zhao,
Han Wu,
Miaoying Zhang
Publication year - 2017
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2016.2636224
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
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.
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