A Linear Active Disturbance Rejection Control Approach to Position Synchronization Control for Networked Interconnected Motion System

• Published in: IEEE transactions on control of network systems Vol. 7; no. 4; pp. 1746 - 1756
• Main Authors: Wang, Yao-Wei, Zhang, Wen-An, Yu, Li
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Actuators; Control systems design; Couplings; Delays; Disturbance rejection; interconnected motion system (IMS); linear extended state observer (LESO); Motion systems; Networked control systems; networked control systems (NCSs); position synchronization; Rejection; Sensors; Servomotors; State observers; Subsystems; Synchronism; Synchronization
• ISSN: 2325-5870; 2372-2533
• DOI: 10.1109/TCNS.2020.2999305

This article investigates the position synchronization control problem for networked interconnected motion systems (NIMSs). First, a position synchronization error model is established for the interconnected motion system, and the delay-induced uncertainty; the adjacent coupling between subsystems and the external disturbances is lumped together as a total disturbance in the system model. Next, the linear extended state observer (LESO) is designed to estimate the total disturbance and the system state simultaneously. Then, a LESO-based synchronization controller is designed to achieve both position synchronization and disturbance rejection. The effect of the network-induced delay in the synchronization performance is significantly reduced. Finally, experiments on a position synchronization control platform of an interconnected four-motor system are presented to demonstrate the effectiveness and superiority of the proposed method.