Robust Decentralized Coordinated Control of a Multimotor Web-Winding System

Due to the strong coupling, model uncertainties, and external perturbations, the multimotor web-winding system presents a great control challenge. In order to deal with these problems, a decentralized coordinated control (DCC) strategy is proposed in this paper. First, the web-winding system is regarded as a synthetic system with several dynamic interval subsystems, and an interval matrix is introduced to cope with the modification of the set point and the change of parameters. Then, a decentralized coordinated controller is designed based on state feedback. By virtue of choosing suitable state variables of neighbor subsystems as coordination variables, the proposed control strategy can improve perturbation rejection performance and reduce the coupling existing between subsystems. Sufficient conditions of asymptotic stabilization of the system are derived based on the Lyapunov stability theory. Controller gain matrices are obtained by solving linear matrix inequalities. Finally, a three-motor web-winding system is considered as an application example, and the effectiveness of the proposed DCC is evaluated by both simulations and experimental tests.