Design and experimental evaluation of output synchronization control for systems with input Magnitude Constraints

This paper proposes design procedures for output synchrornzation problems where each plant is subject to control magnitude constraints. To motivate the present control design problem, we first show that an existing output synchronization control law, which modifies primal reference inputs to obtain better output synchronizations, provides adequate synchronization performance, however, it tends to be high gain controls and becomes difficult for practical implementations due to well known input saturation phenomena and resulting serious performance deterioration. To overcome the problem, we propose output synchronization and Reference Governor combined control systems design procedures. Effectiveness of the proposed methods is validated through experimental evaluations. © 2011 The Japan Society of Mechanical Engineers.