磁球悬浮系统精确前馈线性化控制与滑模控制的模糊增益调度比较研究

2014 IEEE International Conference on Automation, Quality and Testing, Robotics Pub Date : 2014-05-22 DOI:10.1109/AQTR.2014.6857830

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

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引用次数: 6

摘要

本文对两种控制方法进行了比较研究;基于Ackermann和Utkin方法的模糊增益调度和滑模控制器开发了精确前馈线性化控制器。对于后者，滑动面动力学是明确确定的，而不转换为滑模标准形式。在一个众所周知的基准控制问题——磁球悬浮系统(Maglev)中，实际证明了该研究的好处，并比较了两种控制器的性能。对跟踪能力、控制努力、稳态误差和噪声抑制等重要控制问题进行了实验研究。

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

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.

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

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