Synchronization and Consensus of a Group of Direct Current Servo Motors Using the Differential Flatness Control Approach
Universidad Tecnológica de la Mixteca, México, Jesús Linares Flores, Bogdan García Rivera, Universidad Tecnológica de la Mixteca, México, Arturo Hernández‐Méndez, Universidad Tecnológica de la Mixteca, México, José Antonio Juárez-Abad, Universidad Tecnológica de la Mixteca, México, Antonio Orantes Molina, Universidad Tecnológica de la Mixteca, México · Memorias del Congreso Nacional de Control Automático · 2023
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.