Extended state observer–based fractional order proportional–derivative controller for precision trajectory tracking control of a novel linear motor

Abstract

An extended state observer–based fractional order proportional–derivative controller is presented to realize precision trajectory tracking control of a novel linear motor in this article. Structure, working principle, and mathematical model of the linear motor are demonstrated. Fractional order calculus, extended state observer, proportional–derivative control, and feedforward control are combined to accomplish high trajectory tracking accuracy. Comparative simulations and experimental results indicate that the proposed controller is robust to parameter variations and uncertain disturbances, and high tracking performance of the novel linear motor for different desired sinusoidal trajectories has been obtained.