Trajectory tracking control with state restricted gains for a magnetic pendulum using electromagnetic actuators.
Rafael Perez-San Lázaro1, Rita Fuentes-Aguilar2, Isaac Chairez2
1Escuela de Ingenieria y Ciencias, Tecnologico de Monterrey Campus Guadalajara, Jalisco, Mexico.
ISA Transactions
|April 8, 2023
Summary
This study introduces an adaptive controller using Barrier Lyapunov Functions (BLF) for magnetic pendulum systems. The controller effectively manages state restrictions, preventing undesirable fixed states in wireless driven motion applications.
Area of Science:
- Robotics and Control Systems
- Electromagnetism and Magnetic Actuation
- Nonlinear Control Theory
Background:
- Electromagnetic actuation enables wireless motion but requires accurate force estimation between magnetic elements.
- Magnetic-mechanical systems can enter undesirable fixed states, necessitating constraint strategies.
- Barrier Lyapunov Functions (BLF) offer a robust method for enforcing state restrictions.
Purpose of the Study:
- To present an adaptive controller incorporating BLF for a magnetic pendulum system with state restrictions.
- To investigate the use of fixed electromagnets and approximation functions for magnetic force modeling.
- To develop a novel control gain strategy that integrates state restrictions into the control action via a control BLF.
Main Methods:
- Implementation of an adaptive controller utilizing Barrier Lyapunov Functions (BLF).
- Modeling of magnetic force using approximation functions for a magnetic pendulum system.
- Development of a new control gain strategy accounting for state restrictions based on a control BLF.
Main Results:
- The controller successfully managed state restrictions in the magnetic pendulum system.
- Simulations and experimental results validated the controller's performance.
- The study demonstrated the effectiveness of BLF controllers in preventing boundary transgressions in mechanical systems.
Conclusions:
- Adaptive controllers with BLF are highly effective for magnetic pendulum systems with state restrictions.
- The proposed control strategy ensures system stability and avoids undesirable fixed states.
- BLF controllers offer significant advantages for mechanical systems requiring boundary avoidance in electromagnetic actuation.
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