控制理论与应用2026，Vol.43Issue(1)：3-11,9.DOI:10.7641/CTA.2025.40561
多执行器协同鲁棒平行驱动
Cooperative robust parallel operation of multiple actuators
摘要
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.关键词
协同平行驱动/多执行器/鲁棒输出调节/一致性Key words
cooperative parallel operation/multiple actuators/robust output regulation/consensus引用本文复制引用
徐亮,徐翔,刘涛..多执行器协同鲁棒平行驱动[J].控制理论与应用,2026,43(1):3-11,9.基金项目
Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001),the National Natural Science Foundation of China(62303207)and the Guangdong Basic and Applied Basic Research Foundation(2024A1515010725). （ZDSYS20220330161800001）
