针对多工位协同运动系统在网络环境下运行，通信受限诱导系统性能下降与随机失稳问题，本项目拟开展网络通信受限下，随机丢包时延、外部扰动与参数不确定约束的多工位协同运动系统数学建模、网络拓扑结构设计与优化、系统随机稳定及鲁棒镇定控制方法三方面研究。首先结合网络化控制论及随机论，分析多工位协同运动系统网络动力学特性，采用离散有限模态马尔科夫链刻画网络随机丢包时延，采用有界时变的变量描述外部扰动及系统参数不确定，建立闭环系统数学模型；其次结合系统稳定性，分析网络的谱特性，确定网络拓扑结构；最后结合李雅普诺夫稳定性理论，通过推广谱映射及矩阵向量化表示法，分析多工位协同运动系统在网络通信受限环境下的稳定性，获得系统随机稳定性判据，再结合鲁棒控制论及闭环系统性能需求，研究系统鲁棒镇定控制方法，得到系统鲁棒镇定性判据。研究结果将为网络化多工位协同运动控制系统建模、网络通信拓扑结构优化及控制方法提供理论指导。

The project focuses on tracking and solving the scientific problems of control performance degradation and instability for multi-station cooperative motion system (MSCMS) under limited random communication constraints. System modeling, network topology design and optimization, stochastic stability and robust stabilization control method for MSCMS with random packet losses and time delays, external disturbance and parameter uncertainty constraints will be investigated and analyzed. Firstly, the system modeling will be developed for MSCMS with random network-induced communication delays and packet losses modeled by Markov chains, by combining the networked control system theory, motor excitation characteristics and kinetic dynamics. Secondly, the network topology will be proposed by combining the network spectral characteristics analysis method based on the stability theory of the system. Finally, the stability and robust stabilization for the networked CSCMS will be rigorously analyzed and the stability and stabilization criteria will be obtained by using the spectral mapping analysis method, Lyapunov stability theory, matrix vector representation technique and robust control theory. The project aims to explore some insights of the networked MSCMS modeling and the topology optimization and the networked control methods, and to provide a theoretical basis for realizing the MSCMS networked control with limited communication constraints.