An agent based observer model of the networked DC drives for speed coordination

Abstract

In multi-agent systems, the problem of a leader following consensus has been the most attractive area of research since the past decade due to its applicability in the real world problem requiring leader based control of the system such that the rest of the system achieve a common goal i.e. leaders trajectory, acted as a reference for the followers, and once this target is achieved then it is said to have a leader following consensus. In the proposed study, the same concept of leader-based consensus is suggested to develop a consensus on the identical speed of several motors connected in a network with leader following topology. In this study, each of the motorized circuits is deliberated as an ith agent, and each agent of the proposed system is considered to have the same dynamics, an essential requirement to make a multi-agent system. Moreover, the consensus control algorithm is also modified as per the requirement of the proposed problem. Furthermore, the proposed study uses an observer-based approach to deal with the aforesaid problem due to the unavailability of direct measurement of the state variable i.e. speed, in the case of multi-motor systems the required output state is motors speed, in some of the industrial applications. The stability of the proposed system is established by developing a common Lyapunov function and is simulated in MATLAB.