Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing

2017 ◽  
Author(s):  
Alexandre de Langlade ◽  
Seiichiro Katsura
Keyword(s):  
Disturbance Observer ◽  
Position Control ◽  
Magnetic Levitation ◽  
Position Sensing ◽  
Non Linear ◽  
Linear Disturbance

A non-linear disturbance observer-based cooperative adaptive cruise control for real traffic scenarios

2021 ◽  
pp. 095440702110518
Author(s):  
Jaswandi Sawant ◽  
Uttam Chaskar
Keyword(s):  
Disturbance Observer ◽  
Adaptive Cruise Control ◽  
Initial Conditions ◽  
Control Input ◽  
Highway Traffic ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control ◽  
Non Linear ◽  
Linear Disturbance ◽  
Real Traffic

Cooperative adaptive cruise control (CACC) has a strong potential to improvise highway traffic capacity and ease traffic disturbances. Extensive exploration is not carried out in the area of CACC for a cut-in maneuver. Contemporary control strategies proposed for CACC cannot regulate the peaking of control input and thus the acceleration/deceleration of following vehicles when applied for various real traffic scenarios. This paper aims to develop a non-linear disturbance observer-based sliding mode control to control a CACC system for various traffic scenarios. The proposed observer estimates the uncertainty present in the actuator dynamics and the preceding vehicle’s acceleration as the lumped disturbance at the same time, it adjusts the observer gain to alleviate the peaking of control input. The stability of individual vehicles and the string stability of vehicle platoon are derived The performance of the proposed scheme is validated with various traffic scenarios, that is, cut-in maneuver, cut-out maneuver, and non-zero initial conditions. The effectiveness of the proposed scheme is demonstrated by comparing it with a linear disturbance observer-based control.

Non-linear disturbance observer-based adaptive composite anti-disturbance control for non-linear systems with dynamic non-harmonic multisource disturbances

2017 ◽  
Vol 40 (12) ◽  
pp. 3458-3465 ◽  
Author(s):  
Zheng Wang ◽  
Jianping Yuan
Keyword(s):  
Linear Systems ◽  
Disturbance Observer ◽  
Control Structure ◽  
Non Linear ◽  
Linear Damping ◽  
Non Linear Systems ◽  
Complex Features ◽  
The Stability ◽  
Linear Disturbance ◽  
Adaptive Composite

In this paper, an adaptive composite anti-disturbance control structure is constructed for a class of non-linear systems with dynamic non-harmonic multisource disturbances. The key point of this paper is that a kind of non-harmonic disturbance, which has non-linear internal dynamics and complex features, is involved. A non-linear exogenous system is employed to describe the dynamic non-harmonic disturbances and several useful assumptions are introduced. By introducing a non-linear damping term, a novel adaptive non-linear disturbance observer is constructed. Based on the disturbance/uncertainty estimation and attenuation (DUEA) schemes, a composite anti-disturbance control structure is synthesized. Meanwhile, a new sufficient condition is derived and the stability of the closed-loop system is proved. Several illustrative examples are employed to demonstrate the effectiveness of the proposed method.

The application of disturbance observer-based sliding mode control for magnetic levitation systems

2009 ◽  
Vol 224 (8) ◽  
pp. 1635-1644 ◽  
Author(s):  
Z G Sun ◽  
N C Cheung ◽  
S W Zhao ◽  
W C Gan
Keyword(s):  
Disturbance Observer ◽  
Magnetic Levitation ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Open Loop ◽  
Robust Controller ◽  
Linear Dynamic ◽  
Levitation System ◽  
Non Linear ◽  
Magnetic Levitation System

A control algorithm for the position tracking of a magnetic levitation system is presented in this article. The magnetic levitation system is well known for its non-linear dynamic characteristics and open-loop instability. The external disturbances will deteriorate the dynamic performance of the magnetic levitation system, and may give rise to system instability. This problem triggers enormous interests in designing various controllers for the non-linear dynamic system. In this article, a magnetic levitation system is first modelled. Then, a sliding mode controller is proposed, with a simple yet effective disturbance observer to perform disturbance rejection. Both the simulation results and the experimental results verify the validity of the robust controller.

Sign in / Sign up

Export Citation Format

Share Document