Model-free adaptive predictive synchronous control of multiple PMSMs under multi-agent dynamic event triggering

This paper focuses on the model-free adaptive predictive synchronization control issue for multiple permanent magnet synchronous motors (MPMSMs) both subjected to model uncertainties and unknown external disturbances. Combining with multi-agent consensus protocols, a communication network is established where each PMSM is treated as an agent. The purpose of this work is to develop a multi-motor model-free adaptive predictive synchronous control scheme based on multi-agent, using input/output data, to establish a dynamic linearized model of the multi-motor system, so that the speed of each motor eventually tracks the speed of the leader. Furthermore, so as to cope with the sparsity of communication resources, the proposed method is extended to the event-triggered case and a dynamic event-triggered synchronization control protocol is formulated for MPMSMs. Finally, experimental verification is performed to validate the efficacy of the proposed approach