In this paper, the cascade control (CC), a structure popular among practitioners in many industry sectors, is used to bridge the two prominent research methodologies in SMC and ADRC for the purpose of multi-axis motion synchronization. In particular, the cascade sliding mode control(C-SMC) is first proposed, from which the cascade active disturbance rejection control (C-ADRC) is derived. This allows the linear and fal-function based nonlinear control actions to be naturally integrated and the controller parameters can be tuned easily with the proposed space–time scaling method. The control law is constructed and validated in multi-axis motion synchronization of parallel mechanisms. The results show that the proposed scheme is effective and practical, with the robustness associated with the bandwidth constraints.

在本文中，级联控制（CC）是在许多行业的从业人员中流行的一种结构，用于桥接SMC和ADRC中的两种主要研究方法，以实现多轴运动同步。特别是，首先提出了级联滑模控制（C-SMC），从中推导了级联主动抗扰控制（C-ADRC）。这样就可以自然地集成基于线性函数和fal函数的非线性控制动作，并且可以使用建议的时空缩放方法轻松调整控制器参数。在并联机构的多轴运动同步中构造并验证了控制规律。结果表明，该方案是有效和实用的，并且具有与带宽约束相关的鲁棒性。