A Multi-Motor Consensus Control Against Disturbances for Cruise of DEP UAV

For unmanned aerial vehicle (UAV) with a distributed electric propulsion system (DEP), external disturbances may disrupt the synchronization among the motors at each thruster, leading to unbalanced moments during cruise. This paper proposes a novel multi-motor consensus control method for the DEP system. The key innovation lies in an error constraint strategy that rigorously confines the motor's rotation speed errors within prescribed bounds, ensuring coordinated motor operation while simultaneously enabling precise flight speed adjustment. In addition, the controller operates without requiring system parameter identification or disturbance measurements, and relies solely on the feedback rotation speed of the motors. Stability guarantees are analytically established via Lyapunovbased proofs, while comparative numerical simulations validate the method's superiority in disturbance rejection.