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.
Published Version
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