A Novel Fixed-Time Control Algorithm for Trajectory Tracking Control of Uncertain Magnetic Levitation Systems

Anh Tuan Vo,Thanh Nguyen Truong,Hee-Jun Kang

doi:10.1109/access.2021.3068140

Anh Tuan Vo, Thanh Nguyen Truong + Show 1 more

Open Access

https://doi.org/10.1109/access.2021.3068140

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Abstract

In this research, a new robust control method is developed, which achieves a fixed-time convergence, robust stabilization, and high accuracy for trajectory tracking control of uncertain magnetic levitation systems. A hybrid controller is a combination of an adaptive fixed-time disturbance observer and a fixed-time control algorithm. First, to estimate precisely the total uncertain component in fixed-time, an adaptive disturbance observer is constructed. Then, a new robust control method is designed from a proposed fixed-time sliding manifold, disturbance observer's information, and a continuous fixed-time reaching law. A global fixed-time stability and convergence time boundary of the control system is obtained by Lyapunov criteria in which the settling time can be arbitrarily set using design parameters regardless of the system's initial state. Finally, the designed control strategy is implemented for a magnetic levitation system and its control performance is compared with other existing finite-time control methods to evaluate outstanding features of the proposed system. Trajectory tracking experiments in MATLAB/SIMULINK environment have been performed to exhibit the effectiveness and practicability of the designed approach.

Highlights

The design of advanced controllers for magnetic levitation systems (MLSs) is essential to extend their applications to many real systems in automation, transportation, and other related research fields
4) Fixed-time convergence and the effectiveness of the proposed controller has been fully verified by Lyapunov theory and by experimental results for a real MLS
Trajectory tracking experimental for an experimental MLS [65] has been performed using MATLAB/SIMULINK along with discussions in comparing the performance of the proposed controller with a finite-time nonsingular fast TSMC (NFTSMC) stated in [66] and a finite-time NFTSMC stated in [67] to verify the improved performance of the designed control method

Summary

Introduction

The design of advanced controllers for magnetic levitation systems (MLSs) is essential to extend their applications to many real systems in automation, transportation, and other related research fields. MLSs have been used very successfully in many fields. Some notable applications stated in studies [1], [2] can be mentioned as a high-speed maglev train, frictionless bearings, spacecraft, rocket-guiding projects, gyroscopes, microrobotics, contactless melting, wafer distribution systems, the centrifuge of nuclear reactor, vibration isolation systems, and so on. MLSs are a potential object for researchers. The general feature in all MLSs applications is the absence of mechanical contact and they are free from abrasion and friction. This increases the working efficiency, reduces maintenance costs, and increases the operating life of the system.

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