Precision motion control of a novel electromagnetic linear actuator based on a modified active disturbance rejection controller

A modified active disturbance rejection controller is proposed in this paper to accomplish precision motion control of a novel electromagnetic linear actuator. The working principle and characteristics of the actuator are analyzed. A reference acceleration feedforward is added to the conventional active disturbance rejection controller to improve the trajectory tracking accuracy besides the original excellent disturbance rejection performance. Comparative simulations and experimental results demonstrate the effectiveness of the proposed controller, and good tracking and positioning performance has been achieved in the presence of both model uncertainties and external disturbances.