Synchronization tracking control of networked multi-axis motion systems: A cooperative distributed model predictive control approach

Synchronization tracking control is an essential technique in networked multi-axis motion systems (NMAMSs). However, the uncertainties induced by network, such as delay and packet disordering, have great influence on control performance of the motion systems. To improve the influence of the uncertainties induced by network on synchronization tracking control performance in NMAMSs, a cooperative distributed model predictive control (CDMPC) strategy for NMAMSs is proposed. Firstly, the synchronization tracking control of the NMAMS is designed in a networked control framework. By introducing the synchronization error into performance index as a coupling term, a local controller adopting a CDMPC strategy is designed for each subsystem. Then, a Nash optimization iteration strategy is presented to deal with the CDMPC optimization problem, and the convergence and stability of the system are also analyzed. Finally, experiments are carried out to demonstrate the practicability and effectiveness of the proposed control strategy.