Synchronization and Consensus of a Group of Direct Current Servo Motors Using the Differential Flatness Control Approach

https://doi.org/10.58571/CNCA.AMCA.2023.065

Resumen: This article deals with a differential flatness control leader-follower for a group of DC servo motors. Graph theory uses to design the form of connection and communication between servo motors. Each servo motor includes an integral action in its local control. In contrast, the input control law of the leader incorporates the speed desired reference trajectory, which will track each servo motor connected to the leader. The speed desired reference trajectory build employing a high-order Bezier polynomial—the experimental setup using the dSPACE equipment DS1104 model. The experimental results show the effectiveness and robustness of the synchronization and consensus of the control based on the differential flatness property for the group of DC servomotors.

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García Rivera, Bogdan Kaleb; Linares-Flores, Jesús; Hernández-Méndez, Arturo; Juarez-Abad, Jose Antonio; Orantes Molina, Antonio. Synchronization and Consensus of a Group of Direct Current Servo Motors Using the Differential Flatness Control Approach. Memorias del Congreso Nacional de Control Automático, pp. 485-490, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.065

Palabras clave

Sistemas Multi-Agente; Sincronización de Sistemas; Control de Sistemas Lineales

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