Constraint-following control design for the position tracking of a permanent magnet linear motor with inequality constraints

In this paper, we mainly solve the problem of the trajectory following the control and boundary transfinite control of the permanent magnet linear motor (PMLM). Using the Udwadia-Kalaba (U-K) method, the explicit equation of the complete nonholonomic constraint equation is first established, and then the new input constraint equation is obtained by integrating the inequality constraint and the original equation constraint through tangent-state transformation mapping. This constraint equation can make the motor move along the ideal trajectory in a limited range, thus solving the control problem of equality and inequality creatively. The simulation results and PMLM experiment results, based on control Signal Processing And Control Engineering (cSPACE), show that the proposed control method can obtain better motion performance, and the motion displacement does not exceed the boundary while satisfying the trajectory tracking control performance, which proves the effectiveness and feasibility of the proposed method.