LESO-based Position Synchronization Control for Networked Multi-Axis Servo Systems With Time-Varying Delay  

作　　者：Qi Wu Li Yu Yao-Wei Wang Wen-An Zhang 

机构地区：[1]the College of Information Engineering,Zhejiang University of Technology,Zhejiang Provincial United Key Laboratory of Embedded,Hangzhou 310023,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第4期1116-1123,共8页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(NSFC)(61822311);the NSFC-Zhejiang Joint Fund for the Intergration of Industrialization and Informatization(U1709213)。

摘　　要：The position synchronization control(PSC) problem is studied for networked multi-axis servo systems(NMASSs) with time-varying delay that is smaller than one sampling period. To improve the control performance of the system, time-varying delays, modeling uncertainties, and external disturbances are first modeled as a lumped disturbance. Then, a linear extended state observer(LESO) is devised to estimate the system state and the lumped disturbance, and a linear feedback controller with disturbance compensation is designed to perform individual-axis tracking control. After that, a cross-coupled control approach is used to further improve synchronization performance. The bounded-input-bounded-output(BIBO) stability of the closedloop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.

关 键 词：Active-disturbance rejection controller extended state observer networked motion control system(NMCS) timevarying delays 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]