Networked H_∞ Control and its Applications for a Multi-Station Cooperative Motion System

This paper analyzes each station node's electromagnetic and electronic characteristics for the multi-station cooperative motion system (MSCMS). The closed-loop MSCMS model is built based on a networked control scheme by considering the communication constraints and external disturbance. Considering the station nodes position compensation and topological structure among multi-station nodes, stability and stabilization conditions for the networked MSCMS with random time delays are proposed by combing the Markov modeling method and the networked H∞ control theory based on constructing a Lyapunov functional. In order to improve the cooperative motion precision, a networked H∞ controller is designed for the MSCMS by combining a cooperative motion error compensation scheme and inequality techniques. To verify the effectiveness of the proposed method, several groups of experimental results are presented in this paper. Note to Practitioners - With the industry's extensive application of multi-station motor system collaborative control technology, building an NMSCMS model with suitable motors and network structure is vital. The main problem this paper researched is how to guarantee the performance of the system under uncertain disturbance and random delays. Due to the issues mentioned above, a corresponding H∞controller is designed, and the controller is verified by experimental in which motor position errors under different situations are compared. Future research focuses on the same problem with a more complicated network structure and more factors, making the system description more complex.