In order to solve the problem that magnetic levitation ball system was susceptible to internal parameter changes and external disturbance,an adaptive inverse sliding mode control algorithm(NDO-ABSMC)based on nonlinear disturbance observer was proposed.Firstly,the state space model of magnetic levitation spherical system was established,and then a nonlinear disturbance observer(NDOB)was designed to observe the external disturbance of the system.It was proved that the observation error of the observer can converge in a finite time.Secondly,in order to overcome the uncertainty of the system,an adaptive inverse sliding mode controller based on nonlinear disturbance observer was designed.Finally,the proposed method(NDO-ABSMC)was verified by simulation.The results showed that,compared with the inversion sliding mode control algorithm(BSMC),the adaptive inversion sliding mode control based on nonlinear disturbance observer had obvious suppression effect on the disturbance,the trajectory tracking effect was remarkable,which optimizes the control effect of the magnetic levitation ball system and enhances the robustness of the system.
关键词
磁悬浮球系统/轨迹跟踪/非线性干扰观测器/自适应反演滑模控制
Key words
magnetic levitation ball system/trajectory tracking/nonlinear disturbance observer/adaptive inversion sliding mode control
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