PI consensus-based motor synchronization with input saturations
Young‐Hun Lim, Hyo‐Sung Ahn · 2017
This paper studies a motor synchronization problem under input saturations. We propose the PI consensus-based synchronization algorithm. Then, applying the integral-type Lyapunov function, we drive that the multiple motors are synchronized in the presence of input saturations. Moreover, the anti-windup technique is applied to improve the performance, and the asymptotic convergence of speed errors to zero has been investigated. At last, numerical simulations are provided to show the effectiveness of the results.