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

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 b...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2021-06, Vol.68 (6), p.5155-5165
Main Authors: Wu, Xiang, She, Jinhua, Yu, Li, Dong, Hui, Zhang, Wen-An
Format: Article
Language:English
Subjects:
Aperiodic disturbance
contour tracking control
Contours
Control stability
Control systems design
Controllers
Delays
Equivalence
equivalent input disturbance (EID)
Iterative methods
Motion control
networked control systems (NCSs)
Observers
Servomotors
Stability analysis
Task analysis
time-varying delays
Tracking
Tracking control
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Summary: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.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2020.2992017