Paper Info
Title
GESO-Based Position Synchronization Control of Networked Multiaxis Motion System
Abstract
This paper studies the position synchronization control problem for networked multiaxis motion systems (NMAMSs). First, a position synchronization error model is established for the multiaxis motion system, and the uncertainty induced by the network-induced delay is modeled as an additive disturbance of the system. Second, the delay-induced uncertainty and the external disturbances such as load torque variation are lumped together as a total disturbance in the system model. Based on the established position synchronization error model, a generalized extended state observer (GESO) is designed to estimate the lumped disturbance and system states simultaneously. Then, the GESO-based synchronization controller is designed to achieve the objective of position synchronization and disturbance rejection, and the effect of the network-induced delay in the synchronization performance is significantly reduced. Moreover, an input-to-state stability condition is presented for the position synchronization system. Finally, experiments on a four-motors position synchronization control platform are presented to demonstrate the effectiveness and superiority of the proposed method.
Year
DOI
Venue
2020
10.1109/TII.2019.2915321
IEEE Transactions on Industrial Informatics
Keywords
DocType
Volume
Delays,Synchronization,Load modeling,Motion control,Informatics,Real-time systems
Journal
16
Issue
ISSN
Citations 
1
1551-3203
2
PageRank 
References 
Authors
0.37
0
3
Name
Order
Citations
PageRank
Yaowei Wang113429.62
Wen-an Zhang295259.07
Li Yu31509116.88