Abstract
In order to improve the convergence rate and disturbance reject ability of magnetic levitation system, this paper proposes an observer-based adaptive non-singular terminal sliding mode controller. Firstly, the dynamical model of magnetic levitation ball system is deduced, Then on the basis of the sliding mode control (SMC), an adaptive non-singular terminal sliding mode control(ANTSMC) is constructed. The ANTSMC can speed up the convergence speed and reduce chattering. In order to enhance the anti-interference ability, state estimation are cooperated into ANTSMC by using state observer. The simulation results confirmed the closed-loop magnetic levitation system performance both in dynamic response and disturbance attenuation, corresponding quantitative comparison could also show the advantages of proposed control scheme.
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