State-and-disturbance-observer-based sliding mode control of magnetic levitation systems

Abstract

In this paper, a cascaded sliding mode control is designed for magnetic levitation systems usually comprised of an electrical loop and an electromechanical loop. A disturbance-observer-based sliding mode controller is designed for the electrical loop while a state-and-disturbance-observer-based sliding mode controller is designed for the electromechanical loop. The overall stability of the system is proved. The performance of the proposed scheme is compared with a conventional linear quadratic regulator combined with a proportional–integral controller by simulation as well as experimentation on a magnetic levitation setup in laboratory.

Stabilisability analysis and design of UDE‐based robust control

“…In practice, a MagLev system may be subjected to both matched and mismatched uncertainties [40]. The matched uncertainties are mainly derived from the source voltage fluctuation or the coil parameters variations, existing in the same channel as the control input [41].…”

Disturbance observers and applications

“…In the paper 'State and disturbance observer based sliding mode control of magnetic levitation systems', Ginoya et al (2016) propose a cascaded sliding mode control for magnetic levitation systems. A disturbance observer-based sliding mode controller is designed for the electrical loop while a state and disturbance observer-based sliding mode controller is designed for the electromechanical loop.…”

GPIO‐based robust control of magnetic levitation system subject external disturbance

“…Due to the advantages of reducing friction, high efficiency, high speed, low maintenance etc., Maglev levitation systems (MLSs) have exhibited promising application such as high‐speed trains, frictionless bearings, high‐precision manufacturing facilities, and have gained increasing interest [1–6]. It is imperative to provide a high performance control law such that the desired position of MLS could be tracked, because a MLS usually subjects parameter uncertainties and external disturbances except its inherently non‐linearity and open‐loop unstable characteristics [4, 5, 7].…”