Asymptotic differentiation of signals in the trajectory tracking control of a differentially flat nonlinear magnetic suspension system

Beltrán Carbajal, Francisco; Favela Contreras, Antonio; Valderrábano González, Antonio; Silva Navarro, Gerardo

Asymptotic differentiation of signals in the trajectory tracking control of a differentially flat nonlinear magnetic suspension system

Journal

Revista Facultad de Ingeniería Universidad de Antioquia

ISSN

0120-6230

Date Issued

2013

Author(s)

Beltrán Carbajal, Francisco

Favela Contreras, Antonio

Valderrábano González, Antonio

Facultad de Ingeniería - CampCM

Silva Navarro, Gerardo

Type

text::journal::journal article

URL

https://scripta.up.edu.mx/handle/20.500.12552/4678

Abstract

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.