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Robust control and experimental validation of trajectory tracking for permanent magnet linear motors based on constraint-following under uncertainty

Published online by Cambridge University Press:  11 January 2024

Shengchao Zhen ,
Chenghui Huang Open the ORCID record for Chenghui Huang [Opens in a new window] ,
Xiaoli Liu Open the ORCID record for Xiaoli Liu [Opens in a new window]  and
Ye-Hwa Chen
Shengchao Zhen
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, PR China Intelligent Manufacturing Institute of HFUT, Hefei University of Technology, Hefei, Anhui, PR China Institute of Artificial intelligence, Hefei Comprehensive National Science Center, Hefei, Anhui, PR China
Chenghui Huang
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, PR China
Xiaoli Liu*
Affiliation:
School of Artificial lntelligence, Anhui University, Hefei, Anhui, PR China
Ye-Hwa Chen
Affiliation:
The Geroge W. Woodrufi School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
*
Corresponding author: Xiaoli Liu; Email: xiaolihfut@qq.com
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Abstract

This paper proposes a robust control approach to achieve high-precision trajectory tracking for permanent magnet linear motor (PMLM) system containing uncertainties by describing the dynamic model of PMLM based on the Udwadia-Kalaba equation combined with constraint-following method. First, the system of PMLM is described as a constraint-following system by adding the generalized constraint force to the unconstrained Udwadia-Kalaba equation of PMLM system. Second, the robust constraint-following controller is designed based on the proposed model after uncertainty analysis. Moreover, the proposed controller is verified to guarantee deterministic performance for uncertain systems: uniformly bounded and uniformly ultimately bounded. Third, the numerical simulation and experimental validation demonstrate the effectiveness of proposed controller. Finally, the design approach of constraint-following can be applied to other systems with uncertainties.

Keywords

permanent magnet linear motorrobust controlconstraint-followinguncertaintyUdwadia-Kalaba theory
Type
Research Article
Information
Robotica , Volume 42 , Issue 3 , March 2024 , pp. 625 - 643
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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