Leader following speed synchronisation in multiple DC motor system using a hybrid controller

Abstract

In this paper, we explore an innovative approach to design a Chopper fed DC motor coupled as a multi-agent system (MAS), predominantly leader following MAS, to achieve consensus on speed regulated by a Hybrid controller. The hybrid controller incorporates pole placement, tracking and regulation (RST) controller accompanied by adaptive model reference adaptive control (MRAC), after that incorporating MIT rule in the design analysis to endorse system stability. Leader following algorithm is fused with the system model to make the speed of following agent's equivalent to that of leader. In the proposed method, every motor with its chopper circuit is treated as sole agent i.e., ith agent. In this paper, we assume that communication among leader and follower is fixed moreover, we also consider two possible scenarios of communication i.e., in the presence of delay and without delay. For model simulation, MATLAB is used and the obtained results endorse effectiveness of the proposed design.