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

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