Robust Adaptive Control Of Output-Constrained Linear Motor

In this paper, we proposed a control law for the linear motor system with output constraint. To prevent the output large variation of the motor, we employ a Barrier Lyapunov Function in control law design, which grows to infinity as its variables approach the given limits. By introducing Barrier Lyapunov Function into the control law design, it can ensure that those given limits to the output are not transgressed. Comparing the control performance with one that is based on a traditional quadratic Lyapunov method, it shows that the tracking error is within the preset range during the whole transient process under the proposed controller instead of large variation of Quadratic Lyapunov control method. The simulations and experimental are carried out to illustrate the effectiveness of the proposed control law at last.