Speed Cooperative Control for Leader–Follower Multimotor Agent System With Communication Delay

In response to the performance requirements of the coordinated speed control of multiple motors, a new method for the coordinated speed control of a leader-follower multi-motor agent system (MMAS) considering communication delay is proposed. The single motor vector control system is regarded as a single agent, and the concept of leader-follower consensus in the multi agent system (MAS) is introduced to set the speed reference; thus, the issue of coordinated speed control among multi-PMSMs is converted into a consensus issue within the MMAS. A fixed-time sliding mode leader-follower consensus is designed, and the disturbance compensation is carried out through the observer to obtain the control output i*q. Furthermore, considering the actual working conditions where communication delay occurs in the communication network, a consensus protocol under communication delay is designed, and the asymptotic stability of the system is proven. Finally, experimental comparisons with the deviation coupling algorithm are carried out to verify the feasibility and effectiveness of the proposed algorithm.