| Abstract: | The stretching process,as a key phase of web production system,pursues the target velocities of rollers and the web tensions of spans between the successive rollers to guarantee proper stretching ratios. This requires the stable velocities and velocity ratios of large number rollers separated throughout the workshop. To this goal,a distributed cooperative controller is designed to coordinate the velocities of the rollers to the desired values as well as the target ratios between the upper and lower rollers. During the whole evolution,only the neighbor rollers can exchange the working information,and neither global information nor central controller is required. It is proven that all the rollers asymptotically achieve the desired velocity ratios via the proposed control law,which is also demonstrated by numerical simulation. |
