Extended state observer-based fractional order proportional-derivative controller for precision trajectory tracking control of a novel linear motor

被引：8

作者：

Shi, Xinxin ^{[1
]}

Huang, Jiacai ^{[1
]}

Li, Hongsheng ^{[1
]}

机构：

[1] Nanjing Inst Technol, Sch Automat, Nanjing 211167, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2016年 / 230卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Linear motors; fractional order calculus; extended state observer; precision trajectory tracking; motion control; MOTION CONTROL; COMPENSATION; DISTURBANCE; MODEL; DRIVEN; SYSTEM;

D O I：

10.1177/0959651815616541

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An extended state observer-based fractional order proportional-derivative controller is presented to realize precision trajectory tracking control of a novel linear motor in this article. Structure, working principle, and mathematical model of the linear motor are demonstrated. Fractional order calculus, extended state observer, proportional-derivative control, and feedforward control are combined to accomplish high trajectory tracking accuracy. Comparative simulations and experimental results indicate that the proposed controller is robust to parameter variations and uncertain disturbances, and high tracking performance of the novel linear motor for different desired sinusoidal trajectories has been obtained.

引用

页码：95 / 103

页数：9

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