Second-Order Finite-Time of Leader-Following Multi-Agent Systems Based Integrated Speed Cooperative Control for Multi-PMSMs

This paper innovatively proposes a second-order finite-time leader-following integrated speed cooperative control method for multiple permanent magnet synchronous motors agent systems. The technique replaces conventional coupled structure strategies with a distributed cooperative architecture based on multi-agent consensus protocols to achieve high-precision speed synchronization of multiple motors. Each motor vector control system is considered an agent, enabling local speed information exchange among agents through distributed communication protocols. Virtual control variables are introduced to decouple and reconstruct the second-order multi-agent systems mathematical model of multiple permanent magnet synchronous motors. A distributed leader-following adaptive finite-time consistency protocol is designed based on an undirected topology. Combined with a high-order super-twisting sliding mode observer for real-time estimation and dynamic compensation of lumped disturbances, the method directly generates q-axis voltage commands. This implementation achieves integrated speed cooperative control for second-order multiple permanent magnet synchronous motors agent systems within the vector control framework. Comparative experiments with traditional deviation coupling control and first-order multi-agent consistency methods validate the feasibility and effectiveness of the proposed control scheme.