This article investigates the position synchronization control problem for networked interconnected motion systems (NIMSs). First, a position synchronization error model is established for the interconnected motion system, and the delay-induced uncertainty; the adjacent coupling between subsystems and the external disturbances is lumped together as a total disturbance in the system model. Next, the linear extended state observer (LESO) is designed to estimate the total disturbance and the system state simultaneously. Then, a LESO-based synchronization controller is designed to achieve both position synchronization and disturbance rejection. The effect of the network-induced delay in the synchronization performance is significantly reduced. Finally, experiments on a position synchronization control platform of an interconnected four-motor system are presented to demonstrate the effectiveness and superiority of the proposed method.

中文翻译：

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网络互联运动系统位置同步控制的线性自抗扰控制方法


本文研究网络互连运动系统 (NIMS) 的位置同步控制问题。首先，建立了互连运动系统的位置同步误差模型，以及延迟引起的不确定性；子系统之间的相邻耦合和外部扰动被集中在一起作为系统模型中的总扰动。接下来，设计线性扩展状态观测器（LESO）来同时估计总扰动和系统状态。然后，设计了一种基于LESO的同步控制器，以实现位置同步和干扰抑制。网络引起的延迟对同步性能的影响显着降低。最后，在四电机互联系统位置同步控制平台上进行实验，验证了该方法的有效性和优越性。