Second-Order Sliding Mode Control with State and Disturbance Estimation for a Permanent Magnet Linear Motor

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As the drive force depends in a nonlinear way on the currents, tracking control of permanent magnetic actuators requires sophisticated control approaches. In this contribution, a cascaded control strategy is proposed that cancels the effect of the nonlinearity and allows for an accurate trajectory tracking. The strategy involves the combination of an inversion-based current control, a second-order sliding mode control (SMC), and a Kalman filter (KF) that provides estimates for the state variables as well as a lumped disturbance force from noisy measurements. The combination of second-order sliding mode control and estimator-based disturbance compensation contributes to the robustness of the overall control structure, reduces chattering effects significantly and addresses unknown disturbances as well as parametric uncertainties. Successful simulation results indicate the potential of the proposed nonlinear control strategy.

Original languageEnglish
Title of host publicationProceedings of the 2018 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date08.10.2018
Pages345-350
Article number8485968
ISBN (print)978-1-5386-4326-6
ISBN (electronic)978-1-5386-4325-9 , 978-1-5386-4324-2
DOIs
Publication statusPublished - 08.10.2018
Event23rd International Conference on Methods and Models in Automation and Robotics - MMAR 2018 - Amber Baltic Hotel, Miedzyzdroje, Poland
Duration: 27.08.201830.08.2018
Conference number: 23
http://mmar.edu.pl/

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