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<p>This article devises a centralized contouring control strategy for networked multiaxis motion control systems (NMAMSs) based on fully actuated system (FAS) approach. Firstly, a unified FAS model of the NMAMSs is established, which explicitly considers the parameter heterogeneity of each individual-axis and the influence of nonlinear lumped disturbances caused by networked time-varying delays, modeling uncertainties, and external disturbances. In contrast, existing work only considers cases with homogeneous parameters and lacks a systematic analysis of disturbances. Subsequently, an intermediate estimator (IE) is devised to estimate and compensate the lumped disturbances in a feed-forward manner. Further, a centralized contouring error-constrained model predictive control (CEMPC) strategy is developed. The contouring error is explicitly incorporated into the cost function to realize accurate individual-axis tracking and effective contouring error reduction simultaneously. Finally, the proposed method is rigorously analyzed for feasibility and stability, and the effectiveness and superiority is verified by numerical simulations and rapid control prototyping (RCP) experiments conducted on a NMAMSs experimental platform.</p>

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Unified Modeling and Centralized Contouring Control of Networked Multiaxis Motion Control Systems Based on Fully Actuated System Approach

  • 期刊论文

  • 发表日期：

    2026年6月16日

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  • Caoyuan Gu,
  • Chengyuan Hua,
  • Qi Wu,
  • Yao-Wei Wang,
  • Wen-An Zhang

摘要

This article devises a centralized contouring control strategy for networked multiaxis motion control systems (NMAMSs) based on fully actuated system (FAS) approach. Firstly, a unified FAS model of the NMAMSs is established, which explicitly considers the parameter heterogeneity of each individual-axis and the influence of nonlinear lumped disturbances caused by networked time-varying delays, modeling uncertainties, and external disturbances. In contrast, existing work only considers cases with homogeneous parameters and lacks a systematic analysis of disturbances. Subsequently, an intermediate estimator (IE) is devised to estimate and compensate the lumped disturbances in a feed-forward manner. Further, a centralized contouring error-constrained model predictive control (CEMPC) strategy is developed. The contouring error is explicitly incorporated into the cost function to realize accurate individual-axis tracking and effective contouring error reduction simultaneously. Finally, the proposed method is rigorously analyzed for feasibility and stability, and the effectiveness and superiority is verified by numerical simulations and rapid control prototyping (RCP) experiments conducted on a NMAMSs experimental platform.