Relative coupling control are shown in every motor The load torque enhanced relative coupling waveforms of each motor handle are shown in Figure 13. The load torque waveforms of waveforms of every motor are shown in Figure 14. are shown in Figure 14.each and every motor are shown in Figure 14.Figure 12. Speedwaveform ofof each motor below relative coupling handle. Figure 12. Speed waveform of each and every motor under the relative coupling handle. Figure 12. Speed waveform each motor beneath the the relative coupling control.1650 1650 1600 1600 1550 1550 1500 1500 1450motor1 motor1 motor2 motor2 motor3 motor3 motor4 motorWorld Electr. Veh. J. 2021, 12,1400 1400051015Time(s) Time(s)2025303540Figure 13. Speedwaveform ofof each motor under improved relative coupling handle.handle. Figure 13. Speed waveform each motor under the the improved relative coupling Figure 13. Speed waveform of every single motor beneath the improved relative coupling control.Figure 14. Loadtorque waveforms of every single motor. motor. Figure 14. Load torque waveforms of eachIt can be noticed in the experimental waveforms that when a motor within the Saclofen Protocol technique is disIt is usually observed in the experimental waveforms that when a motor inside the sys turbed along with the speed alterations abruptly, if the relative coupling handle mode is adopted, the disturbed along with the speed changesmotor is large. When the enhanced relative coupling is ad speed Desfuroylceftiofur Purity & Documentation synchronization error of every single abruptly, if the relative coupling handle mode manage is synchronization error of every error involving motors could be the improved relative co the speed adopted, the speed synchronization motor is significant. Whensignificantly lowered. Therefore, the SCCS the make the method have improved synchronization functionality. handle is adopted, can speed synchronization error amongst motors is significantly reTherefore, the SCCS can makeCooperative Controlbetter synchronization overall performance. three.2.two. Experiment of Distributed the system have three.two.2. Experiment of Distributed Cooperative Handle mode related for the rudder of an aircraft was designed. The user can drag the rudder inThen, the distributed cooperative control was verified. Within the experiment, a controlThen, the distributed cooperative control was verified. Within the experiment, a c mode equivalent towards the rudder of an aircraft was created. The user can drag the rud real-time to comprehend the steering. When the rudder is pulled to the left, it implies tu3.2.two. Experiment of Distributed Cooperative ControlWorld Electr. Veh. J. 2021, 12,Then, the distributed cooperative control was verified. Inside the experiment, a c 11 of 12 mode comparable towards the rudder of an aircraft was designed. The user can drag the rud real-time to understand the steering. When the rudder is pulled for the left, it suggests t left; at this time, the left motors decelerate, along with the correct motors accelerate. When th real-time to realize the steering. When the rudder correct; to the time, the turning left; der is pulled to the ideal, it suggests turningis pulledat thisleft, it meansright motors dece at this time, the left motors decelerate, plus the appropriate motors accelerate. When the rudder is and the left suitable, it means turning right; at this time, the proper motors back to the middle, it motors accelerate. When the rudder is pulled decelerate, as well as the pulled to the flying within a straight line, and also the leftis pulled back to the middle, itto the same speed. left motors accelerate. When the rudder and proper motors return indicates flying in a straight line, and also the leftdragged motors retu.