A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms

This paper is concerned with designing a dynamical synchronization (via robust cooperative control) of an electromechanical system network (EMSN), consisting nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge proposed approach that actuation provided by motor needs to handle external disturbances achieve tracking task and interaction between both motors cooperatively share load disturbance rejection. control’s basis involves differential flatness active rejection control (ADRC) framework augmented using ideas from graph theory analysis multi-agent networks. Experimental results verify theoretical developments show effectiveness strategy despite unexpectedly changing parameters uncertainties. algorithm suitable for embedded use due its simplicity. It can be applied broad spectrum mechatronic systems dual-motor drive arrangements necessary.