Robust adaptive regulation of magnetic levitation systems with input quantization and external disturbances |
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| Institution: | 1. Institute of Automation, Qufu Normal University, Qufu, Shandong 273165, PR China;2. College of Engineering, Qufu Normal University, Rizhao, Shandong 276826, PR China;3. Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan 70101, Taiwan;1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, P. R. China;2. School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, P. R. China;3. Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing 100083, P. R. China;1. College of Science, Guilin University of Technology, Guilin, Guangxi 541004, PR China;2. School of Mathematics and Statistics, Guangxi Normal University, Guilin, Guangxi 541006, PR China;3. College of Electronic and Information Engineering, Southwest University, Chongqing 400715, PR China;4. School of Information Science and Engineering, Chengdu University, Chengdu, Sichuan 610106, PR China |
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| Abstract: | This paper investigates two intricate problems in magnetic levitation systems: the loss of the information during the transmission over a limited communication network channel and the chattering caused by external disturbances. By combining input quantization technique with two infinitesimal smooth functions, we successfully construct a continuous robust adaptive feedback controller which stabilizes the position of the levitated electromagnet at the equilibrium point. Compared with the existing methods, the proposed quantized control strategy not only guarantees the global stability with asymptotic state regulation of the system even if there are external disturbances, but also exhibits better performance than that of traditional PID control. The simulation validates the robustness and effectiveness of the proposed scheme. |
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