Practical Tracking of Permanent Magnet Linear Motor Via Logarithmic Sliding Mode Control
Hanlin Dong, Xuebo Yang, Michael Basin
Abstract
This article focuses on the fast position tracking problem for the permanent magnet linear motor (PMLM) system under a chattering-reduced sliding mode control signal. To this end, a class of globally nonsingular sliding mode control (SMC) laws, called logarithmic sliding mode (LnSM) control, is proposed in this article. Using the natural logarithm function, a high gain is established at the equilibrium of the sliding mode reduced-order system, which leads to a higher tracking precision and a faster local convergence rate than those of some classical SMCs. In addition, a super-twisting algorithm-based LnSM (ST-LnSM) control is constructed to reduce the chattering typical for first-order SMC, while stabilizing the position tracking system rapidly. Since only a few parameters need to be adjusted, and the employed natural logarithm function is conventionally integrated into most PMLM drivers, the proposed control law is easy to implement in PMLM systems or other industrial servo systems.