Abstract: In order to solve the problem that magnetic levitation ball system is susceptible to internal parameter changes and external disturbance, an adaptive inverse sliding mode control algorithm (NDO-ABSMC) based on nonlinear disturbance observer is proposed. Firstly, the state space model of magnetic levitation spherical system is established, and then a nonlinear disturbance observer (NDOB) is designed to observe the external disturbance of the system. It is proved that the observation error of the observer can converge in a finite time. Secondly, in order to overcome the uncertainty of the system, an adaptive inverse sliding mode controller based on nonlinear disturbance observer is designed. Finally, the proposed method (NDO-ABSMC) is verified by simulation. The results show that, compared with the inversion sliding mode control algorithm (BSMC), the adaptive inversion sliding mode control based on nonlinear disturbance observer has obvious suppression effect on the disturbance, the trajectory tracking effect is remarkable,which optimizes the control effect of the magnetic levitation ball system and enhances the robustness of the system.
罗国威, 韩光信. 基于非线性干扰观测器的磁悬浮球系统自适应反演滑模控制[J]. 吉林化工学院学报, 2024, 41(3): 42-49.
LUO guowei, HAN guangxin. A Study on Magnetic Levitation Ball System based on Adaptive Inversion Sliding Mode Control Based on Nonlinear Disturbance Observer. Journal of Jilin Institute of Chemical Technology, 2024, 41(3): 42-49.
