High-Performance Synchronization Control of Multi-Axis Motion System Based on Fully-Actuated System Approach

This paper investigates a class of synchronization control problem of multi-axis motion systems(MAMSs) with uncertainty and external disturbances. Firstly, a system model that satisfies the full-actuation condition is obtained by performing differential decomposition on each axis(subsystem). The uncertainty and external disturbances are treated as the lumped disturbances of the system. Secondly, a fully-actuated system approach based controller is designed to obtain a linear closed-loop system, which the parameters of the system are determined by parametric approach. Furthermore, the synchronization error model is established and a generalized extended state observer(GESO) is designed to estimate the system state while also estimating the lumped disturbances of the system. Then, the controller with disturbance compensation is designed to achieve high-performance synchronization control of the MSMSs, and system stability analysis is provided. Finally, the effectiveness and superior performance of the proposed approach is verified by simulation experiments.