Tracking control for magnetic-suspension systems with online unknown mass identification

被引：24
作者：
Sun, Ning [1 ,2 ]
Fang, Yongchun [1 ,2 ]
Chen, He [1 ,2 ]
机构：
[1] Nankai Univ, IRAIS, Tianjin 300353, Peoples R China
[2] Nankai Univ, Tianjin Key Lab Intelligent Robot tjKLIR, Tianjin 300353, Peoples R China
来源：
CONTROL ENGINEERING PRACTICE | 2017年 / 58卷
基金：
中国国家自然科学基金;
关键词：
Mechatronics; Magnetic suspension; Lyapunov-based control; Tracking; Unknown mass; SLIDING-MODE CONTROL; LEVITATION-SYSTEM; NONLINEAR CONTROL; DESIGN; IMPLEMENTATION; COMPENSATION; MOTOR;
D O I：
10.1016/j.conengprac.2016.09.003
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a new nonlinear tracking control scheme with simultaneous unknown mass identification for magnetic suspension systems. Specifically, an amplitude-saturated adaptive control law is developed to achieve stable tracking and accurately estimate the unknown suspended mass simultaneously. The stability is assured with rigorous Lyapunov-based analysis. As far as we know, this is the first continuous control method for magnetic suspension systems with unknown levitated ball mass and actuator saturation, yielding an asymptotic result to achieve simultaneous tracking control and mass identification. Through hardware experiments, we verify the performance of the proposed method and compare it with existing methods. (C) 2016 Elsevier Ltd. All rights reserved.
引用
收藏
页码：242 / 253
页数：12
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