Fully-Actuated Sliding Mode Synchronization Control for H-type Linear Motor System

This article proposes a fully-actuated sliding mode synchronization control to realize high-precision tracking motion for an H-type linear motor system. Firstly, a dynamic model of the H-type linear motor system is presented, which establishes the relationship between the thrust difference and synchronization error. Secondly, utilizing the fully-actuated system theory, the dynamic model is transformed into a fully-actuated model instead of directly controlling the original model. Then, a fully actuated sliding mode synchronous controller is designed via sliding mode control and pole configuration to enhance control performance. To compensate for external disturbances and model uncertainties, an extended state observer is developed to achieve effective synchronous control for H-type linear motor system. Finally, comparative experiments are conducted on the H-type linear motor system to validate the effectiveness of the proposed method.