Tracking control for magnetic-suspension systems with online unknown mass identification |
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| Affiliation: | 1. Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin 300353, China;2. Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin 300353, China;1. Department of Automation and Computing, Cujae, Havana, Cuba;2. Instituto de Ingeniera, UNAM, Mexico City, México;1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China;2. School of Electronic, Electrical and Systems Engineering, University of Birmingham, Edgbaston, Birmingham B15 2TT, UK;1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PR China;2. School of Mechanical Engineering, Guilin University of Electronic Technology, Guilin, 541004, PR China;3. School of Mechanical Engineering, Guilin University of Aerospace Technology, Guilin, 541004, PR China |
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| Abstract: | This paper proposes a new nonlinear tracking control scheme with simultaneous unknown mass identification for magnetic suspension systems. Specifically, an amplitude-saturated adaptive control law is developed to achieve stable tracking and accurately estimate the unknown suspended mass simultaneously. The stability is assured with rigorous Lyapunov-based analysis. As far as we know, this is the first continuous control method for magnetic suspension systems with unknown levitated ball mass and actuator saturation, yielding an asymptotic result to achieve simultaneous tracking control and mass identification. Through hardware experiments, we verify the performance of the proposed method and compare it with existing methods. |
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| Keywords: | Mechatronics Magnetic suspension Lyapunov-based control Tracking Unknown mass |
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