A novel robust bounded control with inequality constraints and experimental validation for permanent magnet linear motor

Abstract

In order to solve the problem that the trajectory of a permanent magnet linear motor may be out of bounds in practice and eliminate the influence of uncertainty on trajectory tracking, we propose a robust bounded control based on inequality constraints. First, the dynamics model of the permanent magnet linear motor is established, and then, the constrained output state variables are converted into unconstrained state variables by state conversion. Secondly, based on the dynamics model after state transformation, a novel control method containing both nominal and robust terms is proposed. Finally, the stability of the PMLM system is proved by the Lyapunov minimax method. Simulations and experiments with different algorithms are carried out on the PMLM system and the CSPACE platform. Based on the analysis of the experimental results, it can be found that robust bounded control based on inequality constraints can significantly improve the dynamic performance of the PMLM system and achieve high accuracy.