Arbitrary Finite-time Tracking Control for Magnetic Levitation Systems. (1st October 2014)

• Record Type: Journal Article
• Authors: Tran, Xuan-Toa; Kang, Hee-Jun
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 10(2014)
• Publication Date: 2014-10-01
• Subjects: Finite-time Control -- Magnetic Levitation Systems -- Sliding-mode Control -- Fuzzy Logic System; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58986
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, an arbitrary finite-time tracking control (AFTC) method is developed for magnetic levitation systems with uncertain dynamics and external disturbances. By introducing a novel augmented sliding-mode manifold function, the proposed method can eliminate the singular problem in traditional terminal sliding-mode control, as well as the reaching-phase problem. Moreover, the tracking errors can reach the reference value with faster convergence and better tracking precision in arbitrarily determined finite time. In addition, a fuzzy-arbitrary finite-time tracking control (F-AFTC) scheme that combines a fuzzy technique with AFTC to enhance the robustness and sliding performance is also proposed. A fuzzy logic system is used to replace the discontinuous control term. Thus, the chattering phenomenon is resolved without degrading the tracking performance. The stability of the closed-loop system is guaranteed by the Lyapunov theory. Finally, the effectiveness of the proposed methods is illustrated by simulation and experimental study in a real magnetic levitation system.