Leader-follower flocking for cooperative control of multiple motors

For the purpose of improving the multi-axis synchronous control precision for shaft-less drive printing press, this paper presents a leader-follower mode based flocking control method. First, based on flocking intelligence theory, as well as the use of graph theory and matrix theory, the interaction relation of each agent is described and the distributed synchronous control strategy is proposed. Next, PID controllers are designed to make tracking error and synchronous coordinating error converge to zero, respectively. Specifically, by using an offline parameter optimization method, the system has received a better synchronous performance. Finally, the simulation results demonstrate the effectiveness and superiority of the proposed methodology.