Abstract: Based on the consistency theory of multi-agent systems, this paper solves the synchronous control of multiple motors in the network environment from the point of leader-following control. The impact of network that delays on the synchronization control is considered. Each motor is treated as an agent, and each agent can only get the output information from its neighbors. In this condition, this paper studies the synchronous control of multi-motor systems in the directed networks with fixed topologies. In order to avoid the impact of network delays on the synchronous control of motors, this paper proposes a delay consistency control protocol with a distributed observer, Lyapunov stability theory is used to prove that if a single motor is controllable and observable, the multi-motor systems can achieve the leader-following consistency when network connections meet a simple topology. Finally, the simulation experiments verify the correctness and validity of the method proposed in this paper.

Key words: synchronous control of multi motors, network delay, multi-agent systems, consensus theory, leader-following control

摘要： 基于多智能体一致性理论，从领航跟随控制的角度解决网络环境下多电机的同步控制问题，其中考虑了网络时延对同步控制的影响。每个电机均被视为一个智能体，且每个智能体能且只能得到其邻域的输出测量信息，在此条件下，研究了在有向固定网络拓扑情况下多电机系统的同步控制问题。为了解决网络时延对电机同步控制的影响，提出了一种带有分布式观测器的时延一致性控制协议，应用 Lyapunov稳定性理论证明了若单个电机是能观能控的，只要网络连接满足简单的拓扑结构，则多电机系统能够达到领航跟随一致性。最后通过仿真实验验证了该方法的正确性和有效性。

关键词: 多电机同步控制, 网络时延, 多智能体系统, 一致性理论, 领航跟随控制