Fuzzy-based gain scheduling of Exact FeedForward Linearization control and sliding mode control for magnetic ball levitation system: A comparative study

Author

Lashin, Manar ; Elgammal, Abdullah T. ; Ramadan, Ahmed ; Abouelsoud, A.A. ; Assal, Samy F. M. ; Abo-Ismail, Ahmed

Author_Institution

Mechatron. & Robot. Eng. Dept., Egypt-Japan Univ. of Sci. & Technol., Alexandria, Egypt

fYear

2014

fDate

22-24 May 2014

Firstpage

1

Lastpage

6

Abstract

This paper presents a comparative study between two control approaches; an Exact FeedForward Linearization controller developed by fuzzy-gain scheduling and sliding mode controller based on Ackermann and Utkin method. For the later one the sliding surface dynamics are determined explicitly without transforming to the sliding mode canonical form. The benefits of this study are demonstrated practically on a well known benchmark control problem, Magnetic ball levitation system (Maglev), and the performances of both controllers are compared. Important control issues such as tracking ability, control effort, steady state error and noise rejection are experimentally investigated.

Keywords

feedforward; fuzzy control; linearisation techniques; magnetic levitation; magnetic variables control; nonlinear control systems; stability; variable structure systems; Ackermann-Utkin method; Maglev; control effort; exact feedforward linearization control; fuzzy-based gain scheduling; magnetic ball levitation system; noise rejection; nonlinear unstable system; performance comparison; sliding mode canonical form; sliding mode control; sliding surface dynamics; steady state error; tracking ability; Feedforward neural networks; Magnetic levitation; Mathematical model; Noise; Sliding mode control; Trajectory; Exact FeedForward Linearization Control; Gain scheduling; Luenberger observer; Magnetic ball levitation; Mismatched Condition; Sliding Mode Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4799-3731-8

Type

conf

DOI

10.1109/AQTR.2014.6857830

Filename

6857830