Abstract
Synchronization control is an essential technique in networked multiaxis motion systems (NMAMSs). However, the compound disturbances caused by the delay-induced uncertainty and external disturbances such as system coupling and load mutation have great influence on performance of the motion control systems. The purpose of this article is to propose an equivalent-input-disturbance (EID)-based position synchronization control strategy for NMAMSs to solve the influence of compound disturbances on synchronization control performance in NMAMSs. First, a position synchronization error model is established for the NMAMSs, and the delay-induced uncertainty is treated as a network disturbance. Next, the EID is designed to suppress the overall effect. Then, an EID-based synchronization controller is designed to achieve both position synchronization and disturbance rejection. The effect of the compound disturbances in the synchronization performance is significantly reduced. Finally, simulations and experiments on a position synchronization control platform of a four-motor system are presented to demonstrate the effectiveness and superiority of the proposed method.
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