Synchronous control for trajectory tracking in networked multi-agent systems

Abstract

This paper is devoted to designing a decentralized synchronous controller for networked multi-agent systems. In the proposed controller, due to the limitations of message scheduling and network bandwidth, position synchronization error is defined as a differential position error between current axis and its preceding one. It is proven that the proposed controller can asymptotically stabilize both position and synchronization errors to zero. In addition, a motion message estimator is adopted in the synchronous controller to reduce the effect of network-induced delays. Simulations are performed on a networked multi-axis machine tool to validate its effectiveness and demonstrate that it can achieve good contouring performance for the multi-axis trajectory tracking over the real-time network. © Springer-Verlag Berlin Heidelberg 2012.