Fixed Time Leader Following Speed Consensus Control for MultiPMSMs Based on Multiagent Systems Consensus

Fixed Time Leader Following Speed Consensus Control for MultiPMSMs Based on Multiagent Systems Consensus | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Fixed Time Leader Following Speed Consensus Control for MultiPMSMs Based on Multiagent Systems Consensus Bin Li, Hongxu Chai, Limin Hou This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5556607/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 24 Sep, 2025 Read the published version in Scientific Reports → Version 1 posted 11 You are reading this latest preprint version Abstract Consensus control of multi-agent systems offers scalability and robustness in group tasks. To improve the performance of multiple permanent magnet synchronous motors (multi-PMSMs) speed coordination, in this paper, we propose a fixed-time leader-following speed consensus control for multi-PMSMs based on multi-agent systems consensus. First, the concept of multi-agent systems is introduced and the multi-PMSMs speed control system is modeled as a first-order multi-agent systems subject to perturbations. Next, a fixed-time consensus protocol is designed based on an undirected graph, and construct a fixed-time extended state observer (ESO) to feedforward perturbation estimates into the protocol. The resulting consensus protocol provides the desired q-axis current for the speed control system, with the upper bound of the settling time independent of the initial conditions. Finally, the feasibility and effectiveness of the proposed scheme are validated by comparing it with relative-coupling control scheme on an experimental multi-PMSMs speed control platform. Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Mathematics and computing/Computer science Multi-PMSMs speed control system Multi-agent systems Fixed-time consensus protocol Fixed-time ESO Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 24 Sep, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Accepted 28 Aug, 2025 Reviews received at journal 28 Aug, 2025 Reviewers agreed at journal 28 Aug, 2025 Editor assigned by journal 27 Jun, 2025 Editor invited by journal 27 Jun, 2025 Reviews received at journal 12 Apr, 2025 Reviewers agreed at journal 09 Apr, 2025 Reviewers agreed at journal 09 Apr, 2025 Reviewers invited by journal 09 Apr, 2025 Submission checks completed at journal 02 Apr, 2025 First submitted to journal 21 Mar, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5556607","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":440588196,"identity":"a86bbb93-3d65-462e-bcbe-70030b11b143","order_by":0,"name":"Bin Li","email":"","orcid":"","institution":"Liaoning Technical University","correspondingAuthor":false,"prefix":"","firstName":"Bin","middleName":"","lastName":"Li","suffix":""},{"id":440588197,"identity":"132081d1-e509-4252-ae1a-60d25c5af9fe","order_by":1,"name":"Hongxu Chai","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAyElEQVRIiWNgGAWjYBACfvbGhgMSBhL1/OwNRGqR7DnceMCiwCZBsucAkVoMbqQ3H6j4kJZgcCOBWFtmJDYcuGFwOI/h5uONNxhqbKIJauHnedhwcIbB4WLG2WnFFgzH0nIbCNrSnthwWMLgMGOzdI6ZBGPDYcJaDA4AtfwBammTPEOslhOJoEBOS+yR4CFSi2TPQZAWG2MJHqBfEojxCz97++MPEn8k5OyPH95440ONDWEtKI6USCBFOUQLqTpGwSgYBaNgZAAAUMBHhSnbIJEAAAAASUVORK5CYII=","orcid":"","institution":"Liaoning Technical University","correspondingAuthor":true,"prefix":"","firstName":"Hongxu","middleName":"","lastName":"Chai","suffix":""},{"id":440588199,"identity":"3ddd42b8-bc13-48c3-9b54-05db7b3b652b","order_by":2,"name":"Limin Hou","email":"","orcid":"","institution":"Liaoning Technical University","correspondingAuthor":false,"prefix":"","firstName":"Limin","middleName":"","lastName":"Hou","suffix":""}],"badges":[],"createdAt":"2024-12-01 03:23:07","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-5556607/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5556607/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1038/s41598-025-18061-3","type":"published","date":"2025-09-24T15:57:39+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":92430495,"identity":"3530cd07-faae-495f-973e-66936e93a4bd","added_by":"auto","created_at":"2025-09-29 16:05:33","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":11895479,"visible":true,"origin":"","legend":"","description":"","filename":"Revisedmanuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-5556607/v1_covered_95061117-07b0-4a9c-ba69-7cefd4542148.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Fixed Time Leader Following Speed Consensus Control for MultiPMSMs Based on Multiagent Systems Consensus","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Multi-PMSMs speed control system, Multi-agent systems, Fixed-time consensus protocol, Fixed-time ESO","lastPublishedDoi":"10.21203/rs.3.rs-5556607/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5556607/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003e\u003cstrong\u003eConsensus control of multi-agent systems offers scalability and robustness in group tasks. 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