Observer-Based Tracking Control for Polysolenoid Linear Motor with Unknown Disturbance Load

• Main Author: Hong Quang Nguyen
• Format: Article
• Language: English
• Published: MDPI AG 2020-03-01
• Series: Actuators
• Subjects: observer-based control; polysolenoid linear motor; tracking control
• Online Access: https://www.mdpi.com/2076-0825/9/1/23

Linear motors have been playing a crucial role in mechanical motion systems due to its ability to provide a straight motion directly without mediate mechanical actuators. This paper investigates tracking control problems of Polysolenoid Linear Motor, which is a particular type of permanent magnet linear motor in a tubular structure. In order to deal with unmeasurable velocity, our method proposes a novel observer guaranteed asymptotic convergence of the observer errors. Then, based on observed velocity, our method proposes controllers for position-velocity and current tracking control concerning an unknown disturbance load problem by using Lyapunov direct method. The proposed controllers ensure that the position-velocity tracking error converges to arbitrarily small values by adjusting control parameters. Finally, the validity and effectiveness of our approach are shown in illustrative examples.