Optimization of unknown parameters of adaptive backstepping in position tracking of a permanent magnet linear motor

Abstract

In the current paper a non-linear load control method is developed and implemented for a permanent magnet linear synchronous motor (PMLSM) with a flexible load. The proposed controller tracks a flexible load to the desired reference position as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The unknown parameters of the controller were estimated by means of a differential evolution algorithm. The needed states of the system that are used by controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.