Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments

This paper studies the high performance robust motion control of linear motors that have a negligible electrical dynamics. A discontinuous projection based adaptive robust controller (ARC) is first constructed. The controller guarantees a prescribed transient performance and final tracking accuracy in general while achieving asymptotic tracking in the presence of parametric uncertainties only. A desired compensation ARC scheme is then presented, in which the regressor is calculated using desired trajectory information only. The resulting controller has several implementation advantages. Both schemes are implemented and compared on an epoxy core linear motor. Extensive comparative experimental results are presented to illustrate the effectiveness and the achievable control performance of the two ARC designs