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

摘要

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.