A practical robust bounded control for permanent magnet linear motor with inequality constraints

Authors：Zhen, Shengchao; Hao, Junjian; Liu, Xiaoli^*; Wu, Qilin; Zhao, Han; Chen, Ye-Hwa

Source：CONTROL ENGINEERING PRACTICE, 2022, 122: 105068.

DOI：10.1016/j.conengprac.2022.105068

• Bounded control
• Inequality constraints
• Linear motor
• Robust control
• Uncertainty

A novel practical robust bounded control for permanent magnet linear motor (PMLM) with inequalityconstraints is proposed, aiming to achieve a better performance in the trajectory tracking of PMLM. Firstly, atangent function, which is a monotonic unbounded function in one period, is used to transform the constrainedoutput state variables into unconstrained ones. After this transformation, the displacement of the PMLM isalways kept within a range, regardless of various uncertainties. Also, the dynamic model is transformed into anew form. Secondly, based on the transformed dynamic model, a novel model-based and error-based control isput forward. Theoretical analysis is provided to demonstrate that the proposed control satisfies requirementsof uniform boundedness as well as uniform ultimate boundedness. Thirdly, simulations and experiments arecarried out, according to which, the proposed control shows an excellent performance, and the effectivenessof the novel control is demonstrated.

• Institution
  长安大学