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DSP-based sliding-mode control for electromagnetic-levitation precise position system
journal contributionposted on 2013-05-01, 00:00 authored by J D Lee, Sui Yang KhooSui Yang Khoo, Z B Wang
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.
JournalIEEE transactions on industrial informatics
Pagination817 - 827
LocationPiscataway, N. J.
Publication classificationC1 Refereed article in a scholarly journal
CategoriesNo categories selected
Digital-signal-processor (DSP)electromagnetic levitationexact estimatorlumped uncertainty estimatorsliding-mode controlterminal sliding-mode controlScience & TechnologyTechnologyAutomation & Control SystemsComputer Science, Interdisciplinary ApplicationsEngineering, IndustrialComputer ScienceEngineering