분산 PID 알고리즘을 이용한 입력 포화가 존재하는 다중 모터 시스템의 동기화

Abstract

In this paper, we study the speed synchronization problem for a group of multiple motor systems by considering input saturations. To solve this problem, we propose the distributed PID algorithm based on the consensus technique. In addition, the integral controller may cause the integral windup effect due to input saturations. Therefore, we apply the anti-windup technique to overcome the windup problem. Then, we analyze the stability of the overall error system using an integral-type Lyapunov function. Finally, experiments are performed to demonstrate the validity of the proposed algorithm.