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Robust stabilization control for multi-station motion system with network communication constraints.

Authors :
Qiu, Li
Dai, Longcheng
Pan, Jianfei
Najariyan, Marzieh
Liu, Chengxiang
Dai, Xisheng
Source :
Journal of the Franklin Institute. Nov2023, Vol. 360 Issue 16, p12750-12769. 20p.
Publication Year :
2023

Abstract

In this article, the robust stabilization control techniques and the time delays compensation method are proposed in a networked multi-station cooperative motion system (MSCMS), where random network-induced communication constraints are presented. First, an uncertain multi-nodes model of MSCMS is established. Moreover, the random network communication delays, station nodes position compensation, two types of topologies of the station nodes, and the mutual position disturbance among the multi-station nodes are considered simultaneously. Second, a discrete-time Markov chain is used to model the random network delays for the MSCMS. A time delay compensation method is applied to compensate the tracking errors among the multi-motor nodes. Moreover, the stability conditions and the robust controller design method for MSCMS are presented by constructing a new Lyapunov functional and combining stability theory and inequality techniques. Finally, the effectiveness of the proposed method for the MSCMS is verified by several comparative experimental results. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00160032
Volume :
360
Issue :
16
Database :
Academic Search Index
Journal :
Journal of the Franklin Institute
Publication Type :
Periodical
Accession number :
173031796
Full Text :
https://doi.org/10.1016/j.jfranklin.2022.01.027