Contour Tracking Control of Networked Motion Control System Using Improved Equivalent-Input-Disturbance Approach

Abstract

In this paper, an integrated controller was designed to perform the multi-axis contouring tracking control tasks of networked motion control systems under the influence of external disturbance and measurement noise. To suppress this influence in single-axis tracking, an improved equivalent-input-disturbance (EID)-based single-axis controller is designed to enhance the tracking precision. Then, cross-coupling control (CCC) is utilized for compensation control between each axis, thereby further improving the efficiency and accuracy of contouring tracking control. Finally, comparative experiments are presented to fully illustrate the effectiveness and superiority of the method.