Adaptive Sliding Mode Control for a 6 DOFs Magnetic Levitation System

This paper presents the stability control for the six DOFs magnetic levitation (maglev) system. The electromagnetic forces and torques are obtained by numerical simulation, sampling intervals of the numerical simulation brings errors to the system. To deal with this problem, the errors are introduced as uncertainties of the system actuation model and an adaptive sliding mode controller (ASMC) is introduced to ensure the stability of the closed-loop maglev system. Several simulation examples are given to prove that the proposed control strategy has good performance.