Trajectory Tracking Control and Experimental Verification of a New Linear Motor based on Fractional Calculus

Trajectory tracking control based on fractional calculus of a new linear motor is presented and experiments are verified in this paper. Design details and principle analyses of the new motor are exhibited. Fractional calculus is used to improve the tracking performance, and the motion controller is composed of a fractional-order proportional-derivative controller, a first-order and a second-order extended state observer. The proposed method is compared with an active disturbance rejection controller, and simulations and experiments are performed to verify the effectiveness. Good trajectory tracking performance of the new linear motor has been realized in spite of parameter variations and external disturbances.