The position synchronization control ( PSC ) problem is studied for networked multi-axis servo systems ( NMASSs ) with time-varying delay that is smaller than one sampling period. To improve the control performance of the system, time-varying delays, modeling uncertainties, and external disturbances are first modeled as a lumped disturbance. Then, a linear extended state observer ( LESO ) is devised to estimate the system state and the lumped disturbance, and a linear feedback controller with disturbance compensation is designed to perform individual-axis tracking control. After that, a cross-coupled control approach is used to further improve synchronization performance. The bounded-input-bounded-output ( BIBO ) stability of the closed-loop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.

中文翻译：

---

具有时变时延的基于LESO的网络多轴伺服系统位置同步控制

研究了时变延迟小于一个采样周期的网络化多轴伺服系统（NMASS）的位置同步控制（PSC）问题。为了提高系统的控制性能，时变延迟，建模不确定性和外部干扰首先被建模为集总干扰。然后，设计了线性扩展状态观测器（LESO）来估计系统状态和集总干扰，并设计了具有干扰补偿的线性反馈控制器来执行单轴跟踪控制。此后，使用交叉耦合控制方法来进一步提高同步性能。分析了闭环控制系统的有界输入－界输出（BIBO）稳定性。最后，