Meng Duan, Yingmin Jia
Available Online 1 March 2016.
adaptive sliding mode control, magnetic levitation, numerical calculation, uncertain input
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.
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).