Cooperative robust parallel operation of multiple actuators
XU Liang
XU Xiang
LIU Tao
Abstract：This paper studies cooperative robust parallel operation of multiple actuators over an undirected communi-cation graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors co-operatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
Keywords：cooperative parallel operationmultiple actuatorsrobust output regulationconsensus
Publication Date：2026-01-30
Online Publishing Date：2026-02-05(First online date of this platform, not the publication date of the document)
Pages：9( 3-11 )