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DSP-based sliding-mode control for electromagnetic-levitation precise position system

Lee, Jeng-Dao, Khoo, Suiyang and Wang, Zhi-Bin 2013, DSP-based sliding-mode control for electromagnetic-levitation precise position system, IEEE transactions on industrial informatics, vol. 9, no. 2, pp. 817-827.

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Title DSP-based sliding-mode control for electromagnetic-levitation precise position system
Author(s) Lee, Jeng-Dao
Khoo, Suiyang
Wang, Zhi-Bin
Journal name IEEE transactions on industrial informatics
Volume number 9
Issue number 2
Start page 817
End page 827
Total pages 11
Publisher IEEE
Place of publication Piscataway, N. J.
Publication date 2013-05-01
ISSN 1551-3203
Keyword(s) Digital-signal-processor (DSP)
electromagnetic levitation
exact estimator
lumped uncertainty estimator
sliding-mode control
terminal sliding-mode control
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.

Language eng
Field of Research 090602 Control Systems, Robotics and Automation
090601 Circuits and Systems
090607 Power and Energy Systems Engineering (excl Renewable Power)
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
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Document type: Journal Article
Collection: School of Engineering
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Created: Fri, 25 Jan 2013, 12:02:29 EST by Sui Yang Khoo

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