Robust Cooperative Positioning Control of Composite Nested Linear Switched Reluctance Machines With Network-Induced Time Delays

Abstract

This paper addresses the robust cooperative positioning control for the networked composite nested linear switched reluctance machines (LSRMs) with network-induced sensor-to-controller and controller-to-actuator time delays and uncertain motor parameters. In complex industrial processes, considering the spatio-temporal cooperative nested movement relationship of a master motor and a slave motor nested on the master one, and the inevitable motor parameters identification errors, the robust cooperative positioning control method is proposed based on the networked control method. In order to realize long distance movement and complementary close movement for industrial requirements, the composite nested LSRMs over communication networks are modeled as a Markov time-delay system with the motor parameters uncertainties. The stability conditions and the robust positioning controller design method for the composite nested LSRMs are obtained by using Lyapunov theory and the inequality technique. Several groups of experimental tests are presented to verify the effectiveness and practicability of the proposed robust cooperative positioning control method for the networked composite nested LSRM control systems.