A GESO based MPC approach to contour error control of networked motion control system

Abstract

This paper presents a generalised extended state observer (GESO) based model predictive control (MPC) approach to contour error control for networked multi-axis motion system (NMAMS) with network-induced delays. First, the uncertainties induced by the network-induced delays are modelled as an additive bounded disturbance, and a novel model predictive controller based on the GESO is designed for the uniaxial trajectory tracking control system. The GESO is used to estimate the system state and the disturbance simultaneously, and the effects of the uncertainties induced by the delays are eliminated by the proposed GESO based controller. Then the contour error estimation method is adopted, and a PID controller is designed to compensate the contour error. Finally, experiments are carried out to demonstrate the effectiveness of the proposed method.

Keywords:

• Networked multi-axis motion system
• time-varying delays
• uncertainty
• generalised extended state observer
• model predictive control

2018 MSC:

• 00-01
• 99-00

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

The work was supported by the National Natural Science Foundation of China under Grant No. 61573319, the NSFC-Zhejiang Joint Fund for the Intergration of Industrialization and Informatization under Grant No. U1709213, the Zhejiang Provincial Natural Science Foundation of China under Grant No. LR16F030005. Yao-Wei Wang was also supported by the China Scholarship Council (CSC) scholarship No. 201808330374.

Notes on contributors

Yao-Wei Wang

Yao-Wei Wang received the B.S. from Hubei University of Arts and Science in 2014. He is currently pursuing Ph.D. degree in College of Information Engineering, Zhejiang University of Technology. His current research interests include Active Disturbance Rejection Control (ADRC) and its application, networked control systems and motion control.

Wen-An Zhang

Wen-An Zhang received the B.S. and Ph.D. degrees in College of Information Engineering, Zhejiang University of Technology, in 2004 and 2010, respectively. He is currently a Professor in College of Information Engineering, Zhejiang University of Technology. His current research interests include wireless sensor networks, networked control systems and motion control.

Hui Dong

Hui Dong the B.S. from Guilin University of Electronic Technology in 2000,and the Ph.D. from Zhejiang University. He is currently a Professor in College of Information Engineering, Zhejiang University of Technology. His current research interests include networked control systems and motion control.

Li Yu

Li Yu received the B.S. from Nankai University, Tianjin, China, in 1985. and the M.S. and Ph.D. degrees from Zhejiang University, Hangzhou, China. He is currently a Professor in College of Information Engineering, Zhejiang University of Technology. He has authored or co-authored three books and over 200 journal or conference papers. His current research interests include robust control, time-delay systems, networked control systems and motion control.