Internal Model Disturbance Observer Based Continuous Non-singular Terminal Sliding Mode Control for Magnetic Levitation Systems

• Published in: Chinese Control Conference pp. 2912 - 2916
• Main Authors: Lu, Qinkun, Jiang, Qinchen, Wang, Junxiao, He, Wei
• Format: Conference Proceeding
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 25.07.2022
• Subjects: Continuous non-singular terminal sliding mode control (CNTSMC); Disturbance rejection; Internal model disturbance observer (IMDO); Magnetic levitation; Mathematical models; Multiple disturbances; Nonlinear dynamical systems; Sliding mode control; Steady-state; Uncertain systems; Uncertainty
• ISSN: 1934-1768
• DOI: 10.23919/CCC55666.2022.9902028

For attenuating the chattering phenomenon and improving the disturbance suppression for the magnetic levitation control system subject to multiple disturbances and parameter uncertainties, this paper proposes an internal model disturbance observer (IMDO) based continuous non-singular terminal sliding mode control (CNTSMC) scheme. Firstly, the magnetic levitation system with nonlinear dynamics is constructed. Then, ensuring the system position tracking performance and suppressing the chattering phenomenon, the use of the CNTSMC method makes the system state converge to the desired position in finite time. And, to improve the multiple disturbance rejection, an IMDO based CNTSMC scheme is designed for the system affected by multiple disturbances which include both high-order and trigonometric function forms. Compared with CNTSMC and CNTSMC+GPIO controllers, the results of simulation and experiment show that the proposed method can improve the performance of multiple disturbance rejection and position tracking.