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Mathematical Problems in Engineering
Volume 2014, Article ID 967578, 9 pages
Research Article

Hybrid Structure Based Tracking and Consensus for Multiple Motors

1College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, Hunan 412007, China
2College of Sciences, Hunan University of Technology, Zhuzhou, Hunan 412007, China
3College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, Hunan 410073, China
4Department of Information Engineering, Huanghuai University, Zhumadian, Henan 463000, China

Received 2 July 2014; Accepted 3 August 2014; Published 1 September 2014

Academic Editor: Housheng Su

Copyright © 2014 Changfan Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates a hybrid structure based synchronous control strategy for multimotor system of shaftless-driven printing press. Many existing algorithms can obtain a stable synchronous system; however, the obtained stable system may encounter a large enough disturbance that can destroy the synchronization. Focusing on this challenging technological problem about how to receive more robust synchronization during steady-state process, this paper first proposes a state-dependent-switching based leader-following control approach, in which synchronization includes two parts, one associated with tracking control for all members, and the other one associated with consensus maintained among followers in the case that one follower loses synchronization with the leader during steady-state motion. By employing the algebra graph theory, matrix theory, and Lyapunov analysis, the convergence and stability of the given multimotor system are proved. Finally, simulation examples are presented to demonstrate the effectiveness and robustness of the theoretical results.