in previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. the controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main issue ...

In the speed control system of an Interior Permanent Magnet Synchronous Motor (IPMSM) without a sensor, PI controllers using only fixed set parameters cannot achieve accurate tracking estimated in wide domain and also suffer from step response overshoot. This paper proposes Compound Variable Structure (CVSPI) controller to improve performance. It can choose whether include integral term accordi...