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Qiang Chen1,2,Qing Yang3,et al.[en_title][J].Control Theory and Technology,2023,21(3):397~413.[Copy]
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Decentralized control design and implementation formagnetic levitation systems with extended state observer
QiangChen1,2,QingYang3,MingxinLiu1,2,PeichangYu1,2,LianchunWang1,2,DanfengZhou1,2,JieLi1,2,YingTan4
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(1 College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, Hunan, China 2 Hunan Provincial Key Laboratory of Electromagnetic Levitation and Propulsion Technology, Changsha 410073, Hunan, China;3 Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, Shaan’xi, China;4 Melbourne School of Engineering, The University of Melbourne, Melbourne VIC 3010, Australia)
摘要:
This paper focuses on control design and synthesize for a class of magnetic levitation systems, which have a decentralized control for each suspension point. Due to the existence of mechanical coupling among four suspension points, large modeling uncertainties, unpredictable disturbances during the operation, and measurement noises, becomes challenging. To estimate and compensate for the effects of lumped uncertainties, this study employs the extended state observer (ESO) in conjunction with active disturbance rejection control (ADRC). Specifically, a novel ESO is proposed that utilizes output signals and their derivatives to estimate the lumped uncertainties more accurately, which simplifies the convergence proof conditions and has well engineering performance. This article is written in honor of B. M. Chen on the occasion of his 60th birthday. Specifically, this paper is inspired by his pioneering work on composite nonlinear feedback, which combines linear feedback and nonlinear compensator to enhance system performance Chen et al. (IEEE Trans Autom Control, 40:427–439, 2003).
关键词:  Magnetic levitation systems · Extended state observer · Active disturbance rejection control · Decentralized control
DOI:https://doi.org/10.1007/s11768-023-00159-6
基金项目:This work was supported by the Key Project of the National Natural Science Foundation of China (No. 52241103).
Decentralized control design and implementation formagnetic levitation systems with extended state observer
Qiang Chen1,2,Qing Yang3,Mingxin Liu1,2,Peichang Yu1,2,Lianchun Wang1,2,Danfeng Zhou1,2,Jie Li1,2,Ying Tan4
(1 College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, Hunan, China 2 Hunan Provincial Key Laboratory of Electromagnetic Levitation and Propulsion Technology, Changsha 410073, Hunan, China;3 Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, Shaan’xi, China;4 Melbourne School of Engineering, The University of Melbourne, Melbourne VIC 3010, Australia)
Abstract:
This paper focuses on control design and synthesize for a class of magnetic levitation systems, which have a decentralized control for each suspension point. Due to the existence of mechanical coupling among four suspension points, large modeling uncertainties, unpredictable disturbances during the operation, and measurement noises, becomes challenging. To estimate and compensate for the effects of lumped uncertainties, this study employs the extended state observer (ESO) in conjunction with active disturbance rejection control (ADRC). Specifically, a novel ESO is proposed that utilizes output signals and their derivatives to estimate the lumped uncertainties more accurately, which simplifies the convergence proof conditions and has well engineering performance. This article is written in honor of B. M. Chen on the occasion of his 60th birthday. Specifically, this paper is inspired by his pioneering work on composite nonlinear feedback, which combines linear feedback and nonlinear compensator to enhance system performance Chen et al. (IEEE Trans Autom Control, 40:427–439, 2003).
Key words:  Magnetic levitation systems · Extended state observer · Active disturbance rejection control · Decentralized control