Synchronization of multi-motor systems with input saturations using a distributed PID algorithm

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. ? ICROS 2019.