| Title: | OS6-5 Adaptive Sliding Mode Control for A 2 DOF Magnetic Levitation System with Uncertain Parameters |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 332-335 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.OS6-5 |
| Author(s): | Meng Duan, Yingmin Jia |
| Publication Date: | January 29, 2016 |
| Keywords: | adaptive sliding mode control, magnetic levitation, numerical calculation, uncertain input |
| Abstract: | This paper investigates the stability control for a 2 DOF magnetic levitation system with uncertain parameters and external disturbance. The electromagnetic forces between the magnets and coils are obtained by numerical calculation. Then, an adaptive sliding mode controller is proposed to deal with the parameter uncertainties in the system matrices. The robust stability of the closed-loop system is proved by Lyapunov stability theory. Simulation results are presented to verify the effectiveness of the proposed control strategy. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/OS/OS6-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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