DSP-Based Sliding-Mode Control for Electromagnetic-Levitation Precise-Position System

This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system. The dynamic model of the precise-position device is derived by conducting a thorough analysis on the nonlinear electromagnetic forces. Conventional sliding-mode control and t...

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Bibliographic Details
Published in:IEEE transactions on industrial informatics 2013-05, Vol.9 (2), p.817-827
Main Authors: Lee, Jeng-Dao, Khoo, Suiyang, Wang, Zhi-Bin
Format: Article
Language:English
Subjects:
Closed loop systems
Control systems
Digital-signal-processor (DSP)
Dynamical systems
electromagnetic levitation
Electromagnets
Estimates
Estimators
exact estimator
Force
Levitation
lumped uncertainty estimator
Mathematical analysis
Nonlinear dynamics
Sliding mode control
Studies
Switches
terminal sliding-mode control
Terminals
Uncertainty
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Summary:This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system. The dynamic model of the precise-position device is derived by conducting a thorough analysis on the nonlinear electromagnetic forces. Conventional sliding-mode control and terminal sliding-mode control strategies are developed to guarantee asymptotic and finite-time tracking capabilities of the closed-loop system. A lumped uncertainty estimator is proposed to estimate the system uncertainties. The estimated information is then used to construct a smooth uniformly ultimately bounded sliding-mode control. An exact estimator is also proposed to exactly estimate the unknown uncertainties in finite time. The output of the exact estimator is used to design a continuous chattering free terminal sliding-mode control. The time taken for the closed-loop system to reach zero tracking error is proven to be finite. Experiment results are presented, using a real time digital-signal-processor (DSP) based electromagnetic-levitation system to validate the analysis.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2012.2219062