Fixed-time leader-following speed consensus control for multi-PMSMs based on multi-agent systems consensus

Consensus control of multi-agent systems offers scalability and robustness in group tasks. To improve the performance of multiple permanent magnet synchronous motors (multi-PMSMs) speed coordination, in this paper, we propose a fixed-time leader-following speed consensus control for multi-PMSMs based on multi-agent systems consensus. First, the concept of multi-agent systems is introduced and the multi-PMSMs speed control system is modeled as a first-order multi-agent systems subject to perturbations. Next, a fixed-time consensus protocol is designed based on an undirected graph, and construct a fixed-time extended state observer (ESO) to feedforward perturbation estimates into the protocol. The resulting consensus protocol provides the desired q-axis current for the speed control system, with the upper bound of the settling time independent of the initial conditions. Finally, the feasibility and effectiveness of the proposed scheme are validated by comparing it with relative-coupling control scheme on an experimental multi-PMSMs speed control platform.