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Robust Tracking and Model Following Controller Based on Higher Order Sliding Mode Control and Observation With an Application to MagLev System

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Document pages: 11 pages

Abstract: This paper deals with the design of robust tracking and model following(RTMF) controller for linear time-invariant (LTI) systems with uncertainties.The controller is based on the second order sliding mode (SOSM) algorithm(super twisting) which is the most effective and popular in the family ofhigher order sliding modes (HOSM). The use of super twisting algorithm (STA)eliminates the chattering problem encountered in traditional sliding modecontrol while retaining its robustness properties. The proposed robust trackingcontroller can guarantee the asymptotic stability of tracking error in thepresence of time varying uncertain parameter and exogenous disturbances.Finally, this strategy is implemented on a magnetic levitation system (MagLev)which is inherently unstable and nonlinear. While implementing this proposedRTMF controller for MagLev system, a super twisting observer (STO) is used toestimate the unknown state i.e the velocity of the ball which is not directlyavailable for measurement. It has been observed that the RTMF controller basedon STA-STO pair, is not good enough to achieve SOSM for a chosen slidingsurface using continuous control. As a remedy, continuous RTMF controller basedon STA is implemented with a higher order sliding mode observer (HOSMO). Thesimulated as well as the experimental results are provided to illustrate theeffectiveness of the proposed controller-observers pair.

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