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Due to their reduced maintenance costs, increased power efficiency and reduced power consumption, the Magnetic Levitation (Maglev) system make a significant contribution to the industrial application. Maglev's production of electricity (e.g. wind turbines), maglev trains and medical devices (e.g. artificial heart pump magnetically suspended) are ty...
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This paper intends to validate the application of magnetic techniques, particularly magnetic susceptibility, as sampling tools on a copper tailings terrace, by correlating them analytically. Magnetic susceptibility was measured in both the field and laboratory. Data obtained allowed for designing spatial magnetic susceptibility distribution maps, s...
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... The magnetic levitation (Maglev) system consists of a ferromagnetic ball suspended in a voltage-controlled magnetic field [20]. The objective of the Maglev control system is to achieve high accuracy in positioning the small steel ball in a steady position at a stable levitation [21]. The schematic of the maglev system is illustrated in Fig. 1 [18]. ...
... The ISMC is a new type of sliding mode control strategy that can eliminate the reaching phase. This means that the ISMC enforces the system to be on the sliding surface from the first instance, and the order of the model does not change during the sliding mode [38,39]. Two problems have been reported with the ISMC in many applications. ...
... Two problems have been reported with the ISMC in many applications. The first problem is the chattering phenomenon caused by the discontinuous part of controller law (u_d), which requires approximation or smooth functions to eliminate such chattering behaviors, while the prior knowledge of the perturbation's bounds is the second problem which has to be solved [39]. In order to avoid these problems, a new version of the ISMC, represented by the ISMCbf, has been introduced. ...
In this research paper, a recent robust control scheme was proposed and designed for a VSbW (vehicle steer-by-wire) system. Using an integral sliding mode control (ISMC) design based on barrier function (ISMCbf) could improve the robustness of ISMCs. This control scheme, due to the characteristics of the barrier function, can improve the robustness of the proposed controller better than that based on the conventional SMC or integral SMC (ISMC). The ISMCbf scheme exhibits all the benefits of the conventional ISMC with the addition of two main advantages: it does not require prior knowledge of perturbation bounds or their derivatives, and it can effectively eliminate the chattering phenomenon associated with the classical ISMC due to the smooth characteristics of the barrier function. On the other hand, in terms of the design implementation, the ISMCbf is simpler than the ISMC. In this study, the mathematical dynamical model of the VSbW plant was first presented. Then, the control design of the ISMCbf scheme was developed. The numerical results showed that the proposed scheme is superior to the conventional ISMC. The superiority of the proposed ISMCbf controller versus the classical ISM has been evaluated under three different uncertain conditions, and three scenarios can be deduced: a slalom path, quick steering, and shock disturbance rejection. Furthermore, a comparative analysis with other controllers from the literature has further been established to show the effectiveness of the proposed ISMCbf.
... SMC insensitivity to model parameters uncertainty, disturbance and other perturbation that might affect any control system make it very good choice to be considered to stabilize and control the MLS. Recently, many researches has been conducted to employ SMC in many different design structures such as classical, and adaptive, for MLS stabilization problems with matched and mismatched uncertainty and references there in [31][32][33][34][35][36][37]. Moreover, continuous integral terminal SMC is also employed to satisfy finite time convergence in maglev system [36] and in conjunction with generalized disturbance estimation to violate the disturbance effect on the system. ...
... SMC is an effective control technique that can yield outstanding performance, despite uncertainties and disturbances. However, the main drawback of SMC is chattering, which is typically undesirable in practical drive systems [18][19][20][21][22][23][24]. The research in [18] introduced an integral sliding mode control (ISMC) method for starting induction motors (IM) in the rotating condition without a speed sensor. ...
... These controllers have good tracking performance and can effectively handle disturbances. However, a significant drawback of SMC is the chattering effect, which adversely impacts its overall performance [21,22]. ...
... The BSC algorithm is a nonlinear technique that offers a systematic approach for designing a control law to track a desired reference signal by selecting an appropriate Lyapunov function. Despite its effectiveness, BSC may not be robust enough to handle parametric uncertainties [3,[20][21][22]. Unlike SMC, BSC does not suffer from the chattering effect. ...
This research proposes a robust nonlinear hybrid control approach to the speed control of a multi-input-and-multi-output separately excited DC motor (SEDCM). The motor that was under consideration experienced parametric uncertainties and load disturbances in the weak field region. The proposed technique aims to merge the benefits of adaptive backstepping (AB) and integral sliding mode control (ISMC) to enhance the overall system's robustness. The unknown parameters with load disturbances are estimated using an adaptation law. These estimated parameters are incorporated into the controller design, to achieve a highly robust controller. The theoretical stability of the system is proved using the Lyapunov stability criteria. The effectiveness of the proposed AB-ISMC was demonstrated by simulation, to track the reference speed under parametric uncertainties and load disturbances. The control performance of the proposed technique was compared to that of feedback linearization (FBL), conventional sliding mode control (SMC), and AB control laws without and with the adaptation law. Regression parameters, such as integral square error, integral absolute error, and integral time absolute error, were calculated to quantitatively analyze the tracking performance and robustness of the implemented nonlinear control techniques. The simulation results demonstrated that the proposed controller could accurately track the reference speed and exhibited robustness, with steady-state error accuracy. Moreover, AB-ISMC overperformed, compared to the FBL, SMC, AB controller without adaptation law and AB controller with adaptation law, in reducing the settling time by factors of 27%, 67%, 23%, and 21%, respectively, thus highlighting the superior performance of the proposed controller.
In this paper, the stabilization and trajectory tracking of the magnetic levitation (Maglev) system using optimal nonlinear controllers are investigated. Firstly, the overall structure and physical principle represented by the nonlinear differential equations of the Maglev system are established. Then, two nonlinear controllers, namely synergetic control (SC) and feedback linearization based state feedback controller (FL-SFC), are proposed to force the ball's position using the voltage control input in the Maglev system to track a desired trajectory. For the SC design, the Lyapunov function is employed to guarantee an exponential convergence of the tracking error to zero. In the FL-SFC approach, an equivalent transformation is used to convert the nonlinear system into a linear form, and then the state feedback controller (SFC) method is utilized to track the ball to the desired position. The swarm bipolar algorithm (SBA) based on the integral time absolute error (ITAE) cost function is employed to determine the gains of the controllers to achieve the desired response. Computer simulations are conducted to evaluate the performance of the proposed methodology. The results indicate that in normal conditions, the SC controller is more effective than the FL-SFC controller in controlling the Maglev system. Both controllers achieve zero maximum overshoot and zero steady-state error, but SC responds faster, with a settling time of 0.35 seconds compared to FL-SFC's 1.2 seconds. This highlights SC's superior dynamic performance in speed and accuracy. Additionally, when the Maglev system experiences external disturbances, SC shows better resilience, recovering in just 0.1 seconds, while FL-SFC takes 0.65 seconds. The SC exhibits better performance than that of the FL-SFC in terms of reducing the ITAE index and improving the transient response, even when external disturbances are applied.
The electronic throttle valve (ETV) is widely used in automobile engines to obtain efficient fuel combustion, improved fuel economy, and reduced emissions. The control of the ETV system is a challenging problem due to the unmatched structure of perturbation and its unknown upper bound. As such, deep control concerns are required. For such a system, recent control approaches could partially solve the ultimate boundedness of convergence error, but they have failed to find a solution in the presence of unknown upper-bound perturbation. The contribution of this study is to develop a novel backstepping-based barrier function integral sliding mode controller (BS-BFISMC) to find a solution for the ETV system without the pre-knowledge of the upper bound of perturbation. The proposed control scheme gets the benefits of the backstepping algorithm (BS) and barrier function integral sliding mode control (BFISMC), and the combined scheme could lead to reduced ultimate-bound convergence of tracking error and result in chattering-free control action. A rigorous stability analysis has been conducted to prove the finding reached by the proposed control approach. The efficacy and effectiveness of the proposed controller have been shown by conducting a comparison study with other existing control methods; namely, conventional backstepping controller, robust continuous backstepping (CRBS), and backstepping-based quasi-integral sliding mode controller (BS-QISMC). The numerical results showed that the proposed BS-BFISMC yields the lowest level of ultimate bound of tracking errors and the least control efforts as compared to other controllers. Also, it has been shown that the proposed controller does not require the upper bound of perturbation, which is a pre-requisition of all compared controllers.
