Abstract

BELTRAN CARBAJAL, Francisco; FAVELA CONTRERAS, Antonio; VALDERRABANO GONZALEZ, Antonio  and  SILVA NAVARRO, Gerardo. Asymptotic differentiation of signals in the trajectory tracking control of a differentially flat nonlinear magnetic suspension system. Rev.fac.ing.univ. Antioquia [online]. 2013, n.66, pp.71-82. ISSN 0120-6230.

This paper deals with the problem of time-varying desired position reference traj ectory 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.

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