A Switching Control Scheme for the Synchronization of Serially Connected Multi-Stage System

Synchronization of multi-stage is a typical system widely used in manufacturing industry which provides many challenges and opportunities for applications of motion control. This paper presents a new synchronization control approach which stabilizes the synchronizing errors dynamics of multi-stage. The system targeted in this paper consists of two stages with serial connection. For the master stage, the proposed control technique is used to follow a given motion planning, and for the slave stage, a nest switching method is introduced to the proposed controller for improving the synchronization performance with small control input to avoid high feedback gain. The switching control applies different control gains when the system states lie in different regions. The regions can be described by the nested ellipsoids with outer ellipsoids corresponding to the looser performance bounds and the inner ones to tighter bounds in the synchronization error regions. Several simulations will be demonstrated carried on a higher order experimentally validated model with a manufacturing industry background.