Position Control for Magnetic Rodless Cylinders with Strong Static Friction

An adaptive extended state observer (AESO) based robust controller is proposed for precise position tracking control of a magnetic rodless cylinder with strong static friction. The AESO with dynamic gains is utilized to estimate the static friction and nonlinearities. Precise and robust control is achieved by the proposed controller that integrates the advantages of a sliding-mode controller and a linear active disturbance rejection controller. Experimental results show that both response rate and position accuracy are significantly improved by the proposed method in this paper.