Title :
Adaptive robust dynamic surface control for a magnetic levitation system
Author :
Yang, Zi-Jiang ; Miyazaki, Kouichi ; Kanae, Shunshoku ; Wada, Kiyoshi
Author_Institution :
Dept. of Electr. & Electron. Syst. Eng., Kyushu Univ., Fukuoka, Japan
Abstract :
This paper considers the position tracking problem of a magnetic levitation system in the presence of uncertainties of physical parameters. The dynamic surface control (DSC) technique is modified and applied to the system under study, to overcome the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability (ISS) property is ensured by the robust nonlinear damping terms whereas the ultimate control error bounds are made sufficiently small by the adaptive laws.
Keywords :
adaptive control; damping; magnetic levitation; nonlinear systems; position control; robust control; DSC technique; ISS property; adaptive laws; adaptive robust dynamic surface control; backstepping design procedure; input-to-state stability; magnetic levitation system; position tracking problem; robust nonlinear damping terms; ultimate error bounds; uncertainties; Adaptive control; Backstepping; Control systems; Explosions; Magnetic levitation; Nonlinear dynamical systems; Programmable control; Robust control; Robust stability; Uncertainty;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1271828
