Adaptive synchronization of networked multi-agent systems considering transient responses and disturbances

Networks of mechanical drive systems require precise and robust regulation of the position and speed relations at specified synchronized ratios. Successful synchronization of the multi-agent systems can provide complex mechanisms like powertrain drives or precision machines with enhanced efficient and effective performances. In this paper a new adaptive tracking and synchronization controller is presented to achieve robust tracking and synchronization performance under modeling errors and disturbances. The presented methodology combines a synchronization method of networked systems and model reference adaptive control theories considering uncertainties. Improved transient and steady-state system performances are validated through application of the proposed architecture to DC servo motor systems.