Abstract
A novel practical robust bounded control for permanent magnet linear motor (PMLM) with inequality constraints is proposed, aiming to achieve a better performance in the trajectory tracking of PMLM. Firstly, a tangent function, which is a monotonic unbounded function in one period, is used to transform the constrained output state variables into unconstrained ones. After this transformation, the displacement of the PMLM is always kept within a range, regardless of various uncertainties. Also, the dynamic model is transformed into a new form. Secondly, based on the transformed dynamic model, a novel model-based and error-based control is put forward. Theoretical analysis is provided to demonstrate that the proposed control satisfies requirements of uniform boundedness as well as uniform ultimate boundedness. Thirdly, simulations and experiments are carried out, according to which, the proposed control shows an excellent performance, and the effectiveness of the novel control is demonstrated.
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