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A LADRC based fuzzy PID approach to contour error control of networked motion control system with time‐varying delays
Author(s) -
Wang YaoWei,
Zhang WenAn,
Dong Hui,
Yu Li
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2080
Subject(s) - control theory (sociology) , active disturbance rejection control , tracking error , state observer , pid controller , trajectory , motion control , controller (irrigation) , fuzzy control system , tracking (education) , fuzzy logic , computer science , control engineering , engineering , artificial intelligence , nonlinear system , control (management) , robot , temperature control , psychology , agronomy , pedagogy , physics , quantum mechanics , astronomy , biology
This paper investigate the contour error control problem for networked multi‐axis motion system (NMAMS) with time‐varying delays. Firstly, the uncertainties induced by the delays are modeled as a part of the total disturbance, and a linear active disturbance rejection controller (LADRC) is designed for the uniaxial trajectory tracking control. In the LADRC, a linear extended state observer (LESO) is designed to estimate the system state and the total disturbance simultaneously, and the effect of the total disturbance is eliminated by the designed linear feedback error control law. Then, the classical contour error estimation method is adopted, and a fuzzy PID controller is designed to compensate the contour error to achieve a better contour tracking performance. Finally, experiments are provided to verify the effectiveness of the proposed method.