NDLI: Magnetic servo levitation by sliding-mode control of nonaffine systems with algebraic input invertibility

Content Provider	IEEE Xplore Digital Library
Author	Gutierrez, H.M. Ro, P.I.
Copyright Year	1982
Abstract	Magnetic Servo Levitation (MSL) is an important actuation principle with potential applications ranging from ultrahigh-precision positioning to high-speed rail systems. This paper describes a nonlinear controller design technique for MSL that has inherent robustness to both parametric uncertainties and unmodeled dynamics. Most of the currently available literature on sliding mode considers nonlinear systems that are linear (affine) in the input action. The proposed technique allows designing sliding-mode controllers for the family of nonaffine problems that have an input nonlinearity algebraically invertible with respect to the available control action. This differs from the standard approach of input feedback linearization, and is based on a modified sliding condition that can be used to synthesize a switching control law. An equivalent control term can also be included, substantially enhancing the performance of the controller. Experimental results show that the proposed technique can achieve excellent tracking at high speeds in a fast-tool servo system actuated by MSL.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	1449
Ending Page	1455
Page Count	7
File Size	811568
File Format	PDF
ISSN	02780046
Volume Number	52
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic levitation Servomechanisms Sliding mode control Control systems Magnetic flux Nonlinear systems Robust control Feedback Rails Uncertainty sliding-mode control Equivalent control fast-tool servo system input feedback linearization magnetic servo levitation nonaffine nonlinear systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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