A novel adaptive fixed-time controller (AFTC) based on disturbance compensation technology is proposed to achieve high performance position precision control for magnetic levitation system in this paper. Firstly, the dynamic model of the magnetic levitation system is established and a fixed-time controller (FTC) is designed to realize the closed-loop control. However, this approach usually requires a large switching gain to suppress interference, resulting in chattering. In view of this, the generalized proportional integral observer (GPIO) is introduced to estimate and compensate the time-varying interference, which can not only improve the anti-interference ability, but also reduce the chattering by choosing a smaller switching gain. Nevertheless, these two performance improvements come at the cost of the dynamic response rate. In order to improve steady state performance without sacrificing dynamic performance, an adaptive fixed-time controller based on GPIO is proposed, which has a significant advantage because of the adjustable switching gain. Specifically, when the system state is far from the sliding mode surface, a larger switching gain is adjusted to improve the convergence rate. When the system state is close to the sliding mode surface, a smaller switching gain is adjusted to reduce chattering. Simulation and experimental results demonstrate the superiority of the proposed AFTC-GPIO method qualitatively and quantitatively.

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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, a nonlinear dynamic model of the magnetic levitation system is constructed. Then, for ensuring the system position state tracking performance and suppress the chattering phenomenon, a CNTSMC method is designed to make the system state converge to the desired position in finite time. For improving the multiple disturbance rejection, an IMDO based CNTSMC scheme is designed for the system affected by multiple disturbance which includes both high-order and trigonometric function forms. Compared with CNTSMC and CNTSMC+GPIO controller, simulation and experimental results show that the proposed method could improve the position tracking performance and obtains better multiple disturbance rejection. Some control performance indexes for quantitative comparison are also given to supports these results.