Control of ironless permanent magnet linear synchronous motor using fast terminal sliding mode control with iterative learning control

In this paper, a novel controller is proposed to improve the trajectory tracking performance of a direct drive iron-less permanent magnet linear synchronous motor (ILPMLSM). The proposed control scheme combines fast terminal sliding mode control scheme with iterative learning control. Specifically, the fast terminal sliding mode controller which can pre-define the finite reaching time is used as the primary controller to handle the effect of parametric uncertainties, unknown nonlinearities and external disturbances. A PD type iterative learning controller is employed as the secondary controller to eliminate the periodic tracking errors. Computer simulation results illustrate that the proposed combined controller can achieve better tracking performance and robustness compared with other control algorithms such as PID control, sliding mode control, and the iterative learning control.