Cooperative Robust Parallel Operation of Multiple Actuators Based on Dynamic State Feedback Control

초록

This note investigates the control of multiple actuators that cooperatively drive a common plant in the presence of model uncertainties in both the plant and the actuators, which are assumed to be linear time-invariant (LTI) systems. Assuming that the plant input is given by the sum of the actuator outputs, the objective is to achieve two properties: (i) regulation of the plant output error and (ii) input sharing among the actuator outputs. Using full state measurements of both the plant and the actuators, we propose a control law based on robust output regulation theory for LTI systems. A stability analysis shows that, under certain conditions, the proposed control law robustly ensures both output regulation and input sharing with respect to model uncertainties in both the plant and the actuators. Numerical simulations demonstrate that these properties are achieved even in the presence of model uncertainties. © The Author(s), under exclusive licence to Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2026.

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