Speed Synchronization of Multi-PMSMs With Multiagent Prescribed-Time Sliding Mode Consensus Control

To improve the flexibility, accuracy and robustness of speed synchronization control among multiple permanent magnet synchronous motors (multi-PMSMs), research on multi-agent prescribed-time sliding mode consensus control is conducted in this paper. First, this work establishes the speed regulation system of multi-PMSMs as a multi-agent system (MAS) and then transforms the speed synchronization challenge into a consensus control problem in MAS, enabling information exchange via undirected graph communication topologies. Subsequently, a novel smooth terminal time regulator (S-TTR) function is designed, and a global prescribed-time time-varying sliding mode (TVSM) consensus control strategy incorporating the S-TTR function is proposed. The strategy ensures prescribed-time speed synchronization with enhanced control precision and robustness. Furthermore, a dual-layer adaptive prescribed-time disturbance observer (PTDO) is introduced to estimate disturbances within a prescribed time frame, addressing unknown upper bounds of disturbance derivatives. Additionally, the stability of both the controller and observer is proven using Lyapunov stability theory. Finally, comprehensive experiments validate the effectiveness and superiority of the proposed control strategy for multi-PMSMs systems.