Precision Point-to-point Positioning Control of a Novel Linear Motor based on Fractional-order Modified Active Disturbance Rejection Controller

Abstract

A fractional-order modified active disturbance rejection controller is presented to realize precise point-to-point positioning control driven by a novel linear motor. Working principle and dynamic model of the novel linear motor are demonstrated. Reference acceleration feedforward, tracking differentiator, extended state observer, and fractional order proportional derivative controller are combined to achieve high point-to-point positioning accuracy. Simulation results and experimental validation are compared to illustrate that the proposed fractional-order modified active disturbance rejection controller is robust to external disturbances and parameter variations, and high point-to-point positioning performances of the novel linear motor for different desired positions have been obtained.