Cooperative Robust Parallel Operation of Multiple Actuators

In this article, we investigate the cooperative robust parallel operation problem of a general linear uncertain system driven by multiple actuators. Compared with the existing work, the uncertainties for both the controlled system and the actuator systems, as well as the disturbances for actuator systems, are all taken into consideration. To solve the problem, we develop a dynamic output feedback controller based on the internal model principle. First, a general framework for solving the cooperative robust parallel operation problem is established. By establishing some technical lemmas, we reveal the relationship between the system input sharing of actuators and the robust output regulation property. Then, for different network conditions, we propose the gain matrix design methods in terms of the network connectivity property and the system matrix of the dynamic controller. It guarantees the solvability of the regulator equations and the stability property of the system matrix associated with the closed-loop system. Resorting to the internal model principle, we show that the cooperative robust parallel operation problem can be solved in spite of system uncertainties and disturbances. Finally, the effectiveness of the proposed distributed internal model approach is verified by its application to a shaft driven control with fifteen electric actuator motors.