Leader-Follower Multimotor Speed Coordination via Adaptive Fuzzy Multiagent Consensus Scheme

Abstract

Coordinated speed of interconnected motors has vast application in the industry. Typically, the smooth operation of the system relies on the coordinated speed of the multiple motors such as the conveyer belt system. Thus, the problem to have coordinated speed in a network-connected motor is mostly dealt with wire-connected architectures such as cross coupling. The presented study suggests a unique design to deal with the said problem by proposing a network model consisting of a DC chopper drive, termed as an ith agent of a network, while a leader-follower multiagent consensus algorithm is used, in a supervisory role, to ensure coordinated speed. Moreover, a hybrid controller (Fuzzy MRAC-RST), composed of Fuzzy logic controller, pole placement controller (F-RST), along with model reference adaptive controller (MRAC), is used to control the ith agent. The proposed hybrid controller along with MAS consensus algorithm forms an adaptive tracking performance and ensure coordinated speed. The MATLAB platform is used for simulation purpose, and the obtained results validate the design concept.

A Passive Decomposition Based Robust Synchronous Motion Control of Multi-Motors and Experimental Verification

“…Refs. [17][18][19][20][21][22][23][24][25][26][27] used the sliding mode control technique, fuzzy sliding mode control, and adaptive control to achieve the synchronous motion control. Ref.…”

“…Furthermore, ref. [22] presented a hybrid adaptive fuzzy multi-agent consensus scheme for leader-follower multi-motor speed coordination. Here, it is found that the performance of the control system highly depends on the fuzzy sets, thus the sets may be tuned whenever the desired trajectory is changed.…”

“…In this paper, in the line with many control techniques [12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28], based on the ideas of both the passive decomposition [12][13][14] and sliding mode control techniques [17][18][19][20][21]25] without any adaptive compensation law [4,5,17,[21][22][23][24], a novel passive decompositionbased robust synchronous motion control of multi-motors is presented.…”

“…Compared to several works [15][16][17][18]22,23,26,27], to validate the effectiveness of the proposed synchronous control strategy, the extensive experimental studies on 2/3/4-geared cost-effective BLDC motors were also performed based on two representative control scenarios (sine-wave and trapezoidal trajectories).…”