LESO-based position synchronization control for networked multi-axis servo systems with time-varying delay
Qi Wu, Li Yu, Yao-Wei Wang, Wen‐An Zhang
Abstract
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 closed-loop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.