The immersion and invariance adaptive control for a class of linear motor systems with its application

Because it´s high speed and high precision features, linear motor has been widely used in modern machinery manufacturing industry. By introducing immersion and invariance(I&I) manifold method into adaptation law design, a novel adaptive control algorithm for linear motor system with known and unknown control gain has been proposed and then is applied to linear motor gantry system in this paper. Different from the way of traditional adaptive control, the I&I adaptive control is realized by adding appropriate tuning function on parameter estimation such that the estimation error between the unknown parameters and their estimates converge to zero as time goes to infinity. This method avoids the complexity of construction of Lyapunov function, and the overall system is considered as a cascade of convergent estimator and disturbed system. In order to verify the effectiveness of the proposed algorithm, the experimental results of the method are given in the last section.