Parallel operation of actuators with state measurements

Abstract We study the parallel operation of identical actuators that collectively drive a single plant, under the assumption that the states of both the plant and the actuators are measurable. The objective is to regulate the plant output while ensuring that the actuators equally share the plant input. To achieve accurate output regulation, we design a reduced observer that estimates the plant disturbance and develop an output regulation control law. Input sharing is facilitated by enabling local information exchange among actuator controllers. We show that both output regulation and input sharing can be achieved through appropriate control design. Simulation results validate the effectiveness of the proposed approach.