MODEL-FREE CONTROL OF MAGNETIC LEVITATION SYSTEMS THROUGH ALGEBRAIC DERIVATIVE ESTIMATION
Matheus Schwalb Moraes1; Paulo Sergio Pereira da Silva1
1 University of São Paulo
doi:10.20906/CPS/COB-2015-1138
Resumo
The recent model-free control approach via algebraic derivative estimation is applied to a magnetic levitation system. Instead of relying on adaptation laws or neural networks, this novel technique takes advantage of the fast algebraic parameter estimation combined with a ultra local generic model, avoiding using complex non-linear models in tracking control. This approach allows to reduce non-linearities, uncertainties and perturbations to a single parameter, which is constantly identified on real time through algebraic techniques. Since the model-free approach doesn't specify the estimation method for velocity and acceleration, the algebraic derivative method is used to provide a fast, non-asymptotic state estimation in closed loop control. Experimental results were obtained in a laboratory prototype showing excellent tracking performance of model-free control combined with the algebraic derivative method. Comparisons are made between the proposed approaches and a model-based feedback linearization control law.
Palavras-chave: model-free control; nonlinear control; parameter estimation; derivative estimation; magnetic levitation