Control of MagLev System Using Supertwisting and Integral Backstepping Sliding Mode Algorithm

Abstract

Magnetic Levitation systems are nonlinear, frictionless and noiseless which use electromagnetic fields to hover ferromagnetic objects in air. For this purpose, we have proposed Supertwisting and Integral Backstepping sliding mode controllers. The designed controllers ensure the air gap to be maintained at the desired value while tracking the magnetic flux and momentum to their respective references. The stability analysis of the proposed controllers has been presented using Lyapunov theory which proves the global asymptotic stability of the system. The performance of the proposed controllers is analyzed using ODE 45 solver in MATLAB/Simulink environment. The proposed controllers reduce the chattering and improves the dynamic response of the system. Robustness of the proposed controllers has been checked by adding noise and disturbance in system's state space model. Furthermore, comparison of proposed controllers with each other, with conventional PI and recently published nonlinear controllers for MagLev system in terms of dynamic response has also been presented. The results show that the dynamic behavior of supertwisting sliding mode controller is best among analyzed controllers. INDEX TERMS Magnetic levitation (MagLev), integral backstepping sliding mode controller (IBS-SMC), supertwisting sliding mode controller (ST-SMC), Lyapunov stability.

Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller

“…It is similar to the Variable Structure System (VSS) and is included in the nonlinear controller [25]. It has been applied to many systems, such as Magnetic Levitation System [26] [27], Buck Converter [28] [29], Quadcopter [30][31], Quadrotor [32], Unmanned Surface Vehicle [33], DC/DC Converters [34] and robot Manipulator [35][36] [37]. Nevertheless, all mentioned researches were limited to simulation purpose only.…”

Implementation of an Adaptive Neural Terminal Sliding Mode for Tracking Control of Magnetic Levitation Systems

“…Until now, very few NFTSMC methods are implemented for real MLSs [29], [30] or they are only simulated. In [29], [30], authors selected a nonsingular sliding surface with the fractional exponent in which the coefficients are required as positive odd integers and these nonsingular terminal sliding mode controls (NTSMCs) have slower convergence speed than fast terminal sliding mode control (FTSMC) In a new paper [31], a super-twisting combined with integral backstepping sliding mode control has been proposed for a MLS. Nonetheless, the validation of the controller is only analyzed by simulating their output in MATLAB/Simulink.…”

“…Consequently, this paper proposes a completely different approach from the pre-existing methods (such as [29]- [31]) for MLSs. The implemented control method is expected to provide a control performance with significant improvement in the terms of chattering reduction, high tracking accuracy, fast convergence along with simple design for real applications.…”

Tracking Control of Magnetic Levitation System Using Model-Free RBF Neural Network Design

“…According to the parameter estimation observer, the problem of sensorless state observation of MLS is solved [22]. The chattering in traditional sliding mode control is eliminated by using supertwisting algorithm, and the asymptotic stability of tracking error is guaranteed in the presence of time-varying uncertain parameters and external disturbances [23]. Considering the nonlinear characteristics of the nonlinear MLS and the actual working environment, if the uncertainty or disturbance is large, the performance of MLS will deteriorate rapidly, so it is necessary to design a more robust controller.…”

“…u appears on the right side of(22). Design the ideal closed-loop differential equation as shown in(23) The basic objective of control is to ensure that the MLS can track reference input within limited time 0 t , i.e., Feedback linearization control structure block diagram of MLS…”