Stabilization of two-dimensional nonlinear systems through barrier-function-based integral sliding-mode control: application to a magnetic levitation system
| Autor: | Saleh Mobayen, Alessandro N. Vargas, Leonardo Acho, Gisela Pujol-Vázquez, Constantin F. Caruntu |
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| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament de Matemàtiques, Universitat Politècnica de Catalunya. OMGRAPH - Optimisation Methods on Graphs, Universitat Politècnica de Catalunya. CoDAlab - Control, Dades i Intel·ligència Artificial |
| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: |
Integral sliding-mode control
Applied Mathematics Mechanical Engineering Nonlinear control Levitació magnètica Aerospace Engineering Matemàtiques i estadística::Matemàtica aplicada a les ciències [Àrees temàtiques de la UPC] Adaptive control Ocean Engineering Magnetic levitation system Barrier function Control and Systems Engineering Magnetic suspension Electrical and Electronic Engineering |
| Popis: | The sliding-mode control (SMC) has been used successfully to stabilize nonlinear systems, yet a side effect of SMC is chattering, an undesired phenomenon. Researchers have then introduced the so called integral-type approach to diminish chattering. Additional studies have shown that SMC with the socalled barrier function can drive the system state to a region close to the origin. The main contribution of this paper is to join both setups in the context of SMC, i.e., integral term and barrier function. We show that SMC with both integral term and barrier function can be used to track any given trajectory while ensuring both stability and chattering-free performance. The potential of this novel control for applications is illustrated through real-time experiments performed on a magnetic levitation system. |
| Databáze: | OpenAIRE |
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