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

被引：103

作者：

Wang, Yao-Wei ^{[1
,2
,3
]}

Zhang, Wen-An ^{[3
]}

Yu, Li ^{[3
]}

机构：

[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China

[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China

[3] Zhejiang Univ Technol, Dept Automat, Zhejiang Prov United Key Lab Embedded Syst, Hangzhou 310023, Peoples R China

来源：

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2020年 / 7卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Disturbance rejection; interconnected motion system (IMS); linear extended state observer (LESO); networked control systems (NCSs); position synchronization; REAL-TIME; SYNCHRONOUS CONTROL; DELAY-COMPENSATION; COMMUNICATION; ETHERNET; OBSERVER;

D O I：

10.1109/TCNS.2020.2999305

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：1746 / 1756

页数：11

共 32 条

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