摘要
This paper focuses on control design and synthesize for a class of magnetic levitation systems,which have a decentralized control for each suspension point.Due to the existence of mechanical coupling among four suspension points,large modeling uncertainties,unpredictable disturbances during the operation,and measurement noises,becomes challenging.To estimate and compensate for the effects of lumped uncertainties,this study employs the extended state observer(ESO)in conjunction with active disturbance rejection control(ADRC).Specifically,a novel ESO is proposed that utilizes output signals and their derivatives to estimate the lumped uncertainties more accurately,which simplifies the convergence proof conditions and has well engineering performance.This article is written in honor of B.M.Chen on the occasion of his 60th birthday.Specifically,this paper is inspired by his pioneering work on composite nonlinear feedback,which combines linear feedback and nonlinear compensator to enhance system performance Chen et al.(IEEE Trans Autom Control,40:427-439,2003).
基金
This work was supported by the Key Project of the National Natural Science Foundation of China(No.52241103).
作者简介
Qing Yang received the Ph.D.degree in control science and engineering from the National University of Defense Technology,Changsha,China,in 2022.Her research interests include robust control and iterative learning control.y_angqing@126.com;Qiang Chen received the Ph.D.degree in control science and engineering from the National University of Defense Technology,Changsha,China,in 2018.He is currently a Lecturer at the College of Intelligence Science and Technology,National University of Defense Technology.His research interests include magnetic levitation control and electromagnetic launching;Mingxin Liu received the Bachelor’s degree in control science and engineering from the Nanjing University of Aeronautics and Astronautics in 2020 and the Master’s degree in control science and engineering from the National University of Defense Technology in 2022,where he is currently pursuing the Ph.D.degree in control science and engineering.His research interests include electrodynamic suspension and motor control;Peichang Yu received the Ph.D.degree in control science and engineering from the National University of Defense Technology,Changsha,China,in 2016.He is currently an associate professor with the College of Intelligence Science and Technology,National University of Defense Technology.His research interest is the levitation control of electromagnetspermanent magnets hybrid systems;Lianchun Wang received the Ph.D.degree in control science and engineering from the National University of Defense Technology,Changsha,China,in 2018.He is currently a lecturer with the College of Intelligence Science and Technology,National University of Defense Technology.His research interest is the active control of the maglev vehicle/bridge self-excited vibration;Danfeng Zhou received the Ph.D.degree in control science and engineering from the National University of Defense Technology,Changsha,China,in 2011.He is currently an associate professor with the College of Intelligence Science and Technology,National University of Defense Technology.His research interests include magnetic levitation control and vibration control;Jie Li received the Ph.D.degree in automation from the National University of Defense Technology,Changsha,China,in 1999.He held a postdoctoral position with The Hong Kong University of Science and Technology,Hong Kong.He is currently a professor with the College of Intelligence Science and Technology,National University of Defense Technology.His current research interests include magnetic levitation technologies and robotics;Ying Tan is a Professor in the Department of Mechanical Engineering at The University of Melbourne,Australia.She received her Bachelor’s degree from Tianjin University,China,in 1995,and her PhD from the National University of Singapore in 2002.She joined McMaster University in 2002 as a postdoctoral fellow in the Department of Chemical Engineering.Since 2004,she has been with the University of Melbourne.She was awarded an Australian Postdoctoral Fellow(2006-2008)and a Future Fellow(2009-2013)by the Australian Research Council.She is Fellow of the Institute of Electrical and Electronic Engineers(FIEEE),Fellow of the Institution of Engineers of Australia(FIEAUST),and Fellow of Asia-Pacific Artificial Intelligence Association.Her research interests are in intelligent systems,nonlinear systems,real-time optimization,sampled-data systems,rehabilitation robotic systems,human motor learning,wearable sensors,and modelguided machine learning.
