Second-Order Sliding Mode Control with State and Disturbance Estimation for a Permanent Magnet Linear Motor
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Second-Order Sliding Mode Control with State and Disturbance Estimation for a Permanent Magnet Linear Motor. / Aschemann, Harald; Haus, Benedikt; Mercorelli, Paolo.
Proceedings of the 2018 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018. IEEE - Institute of Electrical and Electronics Engineers Inc., 2018. p. 345-350 8485968.Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - Second-Order Sliding Mode Control with State and Disturbance Estimation for a Permanent Magnet Linear Motor
AU - Aschemann, Harald
AU - Haus, Benedikt
AU - Mercorelli, Paolo
N1 - Conference code: 23
PY - 2018/10/8
Y1 - 2018/10/8
N2 - 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.
AB - 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.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85056460197&partnerID=8YFLogxK
U2 - 10.1109/MMAR.2018.8485968
DO - 10.1109/MMAR.2018.8485968
M3 - Article in conference proceedings
AN - SCOPUS:85056460197
SN - 978-1-5386-4326-6
SP - 345
EP - 350
BT - Proceedings of the 2018 23rd International Conference on Methods and Models in Automation and Robotics, MMAR 2018
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 23rd International Conference on Methods and Models in Automation and Robotics - MMAR 2018
Y2 - 27 August 2018 through 30 August 2018
ER -