Arbitrary Finite-time Tracking Control for Magnetic Levitation Systems:

International Journal of Advanced Robotic Systems

Xuan-ToaTran¹ 

关键词: Finite-time Control;    Magnetic Levitation Systems;    Sliding-mode Control;    Fuzzy Logic System;   

DOI  :  10.5772/58986

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, an arbitrary finite-time tracking control (AFTC) method is developed for magnetic levitation systems with uncertain dynamics and external disturbances. By introducing a novel augmented sliding-mode manifold function, the proposed method can eliminate the singular problem in traditional terminal sliding-mode control, as well as the reaching-phase problem. Moreover, the tracking errors can reach the reference value with faster convergence and better tracking precision in arbitrarily determined finite time. In addition, a fuzzy-arbitrary finite-time tracking control (F-AFTC) scheme that combines a fuzzy technique with AFTC to enhance the robustness and sliding performance is also proposed. A fuzzy logic system is used to replace the discontinuous control term. Thus, the chattering phenomenon is resolved without degrading the tracking performance. The stability of the closed-loop system is guaranteed by the Lyapunov theory. Finally, the effectiveness of the proposed methods is illustrated by simulation and experimental study in a real magnetic levitation system.

【 授权许可】

CC BY