Title :
Backstepping Based Nonlinear Adaptive Control of Magnetic Levitation System with Unknown Disturbances
Author :
Baobin Liu ; Wei Zhou
Author_Institution :
Sch. of Eng. & Technol., Jiangsu Inst. of Econ. & Trade Technol., Nanjing, China
Abstract :
The magnetic ball levitation is a nonlinear system with disturbances. This paper proposes a back stepping Based adaptive controller with strong robustness for the magnetic system. In the design process, we present a parameter-strict-feedback model with complex disturbances and then reversely calculate control variable according to Lyapunov´s second method. Barbalat lemma proves global asymptotical stability of the system. Simulation examples are given to illustrate the effectiveness of the control scheme.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; magnetic levitation; magnetic variables control; nonlinear control systems; robust control; Barbalat lemma; Lyapunov second method; backstepping based nonlinear adaptive control; control variable; design process; global asymptotical stability; magnetic ball levitation; magnetic levitation system; magnetic system; parameter-strict-feedback model; robustness; unknown disturbances; Adaptation models; Adaptive control; Backstepping; Lyapunov methods; Magnetic levitation; Mathematical model; Nonlinear systems; adaptive control; backstepping; magnetic levitation system; nonlinear control;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.9
