Output feedback adaptive robust precision motion control of linear motors

This paper studies high performance robust motion control of linear motors that have a negligible electrical dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. Since only output signal is available for measurement, an observer is "rst designed to provide exponentially convergent estimates of the unmeasurable states. This observer has an extended "lter structure so that on-line parameter adaptation can be utilized to reduce the e!ect of the possible large nominal disturbances. Estimation errors that come from initial state estimates and uncompensated disturbances are e!ectively dealt with via certain robust feedback at each step of the ARC backstepping design. The resulting controller achieves a guaranteed output tracking transient performance and a prescribed "nal tracking accuracy. In the presence of parametric uncertainties only, asymptotic output tracking is also achieved. The scheme is implemented on a precision epoxy core linear motor. Experimental results are presented to illustrate the e!ectiveness and the achievable control performance of the proposed scheme. 2001 Elsevier Science Ltd. All rights reserved.