Adaptive Terminal Sliding Mode Control for Magnetic Levitation System With Observer

In order to improve the convergence rate and disturbance reject ability of magnetic levitation system, this paper proposes an observer-based adaptive non-singular terminal sliding mode controller. Firstly, the dynamical model of magnetic levitation ball system is deduced, Then on the basis of the sliding mode control (SMC), an adaptive non-singular terminal sliding mode control(ANTSMC) is constructed. The ANTSMC can speed up the convergence speed and reduce chattering. In order to enhance the anti-interference ability, state estimation are cooperated into ANTSMC by using state observer. The simulation results confirmed the closed-loop magnetic levitation system performance both in dynamic response and disturbance attenuation, corresponding quantitative comparison could also show the advantages of proposed control scheme.