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Related Experiment Video

Updated: Dec 3, 2025

Operation of the Collaborative Composite Manufacturing CCM System

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Published on: October 1, 2019

On multi-axis motion synchronization: The cascade control structure and integrated SMC-ADRC design.

Suhua Yao¹, Guoqin Gao², Zhiqiang Gao³

¹School of Electrical & Information Engineering, Jiangsu University, Zhenjiang 212013, China; School of Turbine Electrical & Intelligent Engineering, Jiangsu Marine Institute, Nanjing 211112, China.

ISA Transactions

|October 31, 2020

Summary

This study introduces cascade sliding mode control (C-SMC) and cascade active disturbance rejection control (C-ADRC) for synchronizing multi-axis motion. These methods effectively integrate linear and nonlinear control, offering practical and robust solutions.

Keywords:

Active disturbance rejection control Cascade control Parallel mechanism Sliding mode control Synchronization

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Area of Science:

Control Systems Engineering
Robotics
Mechatronics

Background:

Cascade control (CC) is a widely adopted structure in various industries.
Sliding Mode Control (SMC) and Active Disturbance Rejection Control (ADRC) are prominent control methodologies.
Multi-axis motion synchronization presents significant control challenges.

Purpose of the Study:

To bridge SMC and ADRC methodologies using cascade control for multi-axis motion synchronization.
To propose cascade sliding mode control (C-SMC) and derive cascade active disturbance rejection control (C-ADRC).
To facilitate natural integration of linear and nonlinear control actions and easy parameter tuning.

Main Methods:

Development of cascade sliding mode control (C-SMC).
Derivation of cascade active disturbance rejection control (C-ADRC) from C-SMC.
Application of a space-time scaling method for controller parameter tuning.
Validation of the control law in multi-axis motion synchronization of parallel mechanisms.

Main Results:

The proposed C-SMC and C-ADRC schemes effectively synchronize multi-axis motion in parallel mechanisms.
The control strategies naturally integrate linear and nonlinear control components.
The space-time scaling method allows for straightforward parameter tuning.
The developed control scheme demonstrates practical effectiveness and robustness within bandwidth constraints.

Conclusions:

The proposed cascade control approach, integrating SMC and ADRC, is a viable and effective solution for multi-axis motion synchronization.
The C-SMC and C-ADRC offer practical advantages in terms of control integration and parameter tuning.
The control strategy exhibits robustness, making it suitable for real-world applications with bandwidth limitations.