NDLI: A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms

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A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms

Content Provider	MDPI
Author	W. Fermin Guerrero-Sánchez, Arturo, Hernández-Méndez Linares-Flores, Jésus Gonzalez-Diaz, Victor R. Aguilar, Gerardo Mino Munoz-Hernandez, German A. Guerrero-Castellanos, J. Fermi
Copyright Year	2022
Description	This paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approach is that the actuation provided by the motor needs to handle external disturbances to achieve the velocity tracking task and handle the interaction between both motors cooperatively to share the load and the disturbance rejection. The control’s basis involves differential flatness and an active disturbance rejection control (ADRC) framework augmented using ideas from the graph theory analysis and multi-agent networks. Experimental results verify the theoretical developments and show the effectiveness of the proposed control strategy despite unexpectedly changing load disturbance and parameters uncertainties. The proposed algorithm is suitable for embedded use due to its simplicity. It can be applied to a broad spectrum of mechatronic systems where dual-motor drive arrangements are necessary.
Starting Page	5121
e-ISSN	19961073
DOI	10.3390/en15145121
Journal	Energies
Issue Number	14
Volume Number	15
Language	English
Publisher	MDPI
Publisher Date	2022-07-14
Access Restriction	Open
Subject Keyword	Energies Industrial Engineering Speed Synchronization Cooperative Control Load-sharing Input-to-state-stability (iss) Active Disturbance Rejection Control (adrc) Extended State Observers (esos)
Content Type	Text
Resource Type	Article

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