Adaptive sliding mode control strategy design for DSP-based maglev driving and control system

This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system. The dynamic model of the precise-position device is derived by conducting a thorough analysis on the nonlinear electromagnetic forces. Conventional sliding mode control strategy is developed to guarantee asymptotic tracking capabilities of the closed-loop system. A lumped uncertainty estimator is proposed to estimate the system uncertainties. The estimated information is then used to construct a smooth uniformly ultimately bounded sliding mode control. Experiment results are presented, using a real time digital-signal-processor (DSP) based electromagnetic-levitation system to validate the analysis.