Contour Tracking Control of Networked Motion Control System Using Improved Equivalent-Input-Disturbance Approach

摘要

This article deals with contour tracking control of a networked multiaxis motion control system with repetitive tasks. To improve the control performance of the system under the overall effects of aperiodic time-varying delays and exogenous disturbances, a network-induced delay is first modeled to be a disturbance. Next, an improved equivalent-input-disturbance (IEID) approach is devised to suppress the overall effect. Then, an iterative learning controller is designed in combination with the IEID estimator to perform individual-axis tracking control. The stability of the system is analyzed using the separation theorem. After that, a cross-coupled controller is used to further improve the contour-tracking performance. Finally, simulations and experiments are carried out to verify the feasibility and effectiveness of the new approach.