TITLE

Asymptotic differentiation of signals in the trajectory tracking control of a differentially flat nonlinear magnetic suspension system

AUTHOR(S)
Carbajal, Francisco Beltrán; Contreras, Antonio Favela; González, Antonio Valderrábano; Navarro, Gerardo Silva
PUB. DATE
March 2013
SOURCE
Revista Facultad de Ingenieria Universidad de Antioquia;mar2013, Issue 66, p70
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
This paper deals with the problem of time-varying desired position reference trajectory tracking tasks for an object in a differentially flat nonlinear magnetic levitation system using position measurements only. A novel scheme for signal differentiation is proposed for asymptotic estimation of velocity and acceleration. This differentiator can be utilized in many control applications of practical engineering systems where the differentiation of any signal is required. The differentiation of signals is combined with a differential flatness-based controller for asymptotic tracking of reference trajectories. Simulation results are provided to show the efficient performance of the proposed differentiator-control scheme. Two issues for reference trajectory tracking tasks are performed. The first one considers the rest-to-rest position transfer problem of the object from a nominal position to another, while the second one focuses on the sinusoidal position trajectory tracking problem.
ACCESSION #
97266151

 

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