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Switched sliding-mode controller design for a one-dimensional precision platform

This paper proposes a new type of a non-conventional electro-magnetic actuator (EMA) for a micro-positioner with larger moving range. It is a repulsive magnetic system consisting of a motion carrier and two active coils. The movement of the motion carrier is due to the repelling force between the coils and the magnets affixed to the carrier. First, the dynamic model is derived and analyzed. Next, a switched sliding-mode controller is developed to deal with the objectives of precision positioning and larger moving range in this system. From the experimental results, satisfactory performances including regulation accuracy and control efficiency have been demonstrated.