Optimal Sliding Mode Controller for Position Tracking of Magnetic Levitation System

Abstract

In thesis report nonlinear adaptive particle swarm optimization-based gain optimization of sliding mode control system presented under matching model uncertainty and random Gaussian external disturbances. First, a third-order dynamic nonlinear model was created, which includes mechanical (ball position and velocity) and electrical (the current) subsystems with uncertainty in the system parameter and loading mass. Secondly, sliding mode control system for position control system under both matched model uncertainty (internal) and external Gaussian disturbances designed for magnetic levitation position tracking system. Then, Optimal gain of sliding mode control system allocated in such way that integral square error fitness function is minimal under both matching model uncertainty and external disturbances using adaptive particle swarm optimization technique.