A Barrier Function-Based Variable Structure Control for Maglev System

Magnetic levitation (Maglev) systems are widely employed in the industry especially mechatronics for precise positioning and suspension. They inherently unstable having nonlinear models with uncertain parameters exposed to external disturbances. Therefore, high-performance robust control designs recommended these systems. An Adaptive Variable Structure Controller based on barrier function (AVSCbf) is designed first time this work displacement of ball position a disturbed Maglev system. This approach does not require prior knowledge disturbance upper bounds design procedure. The state space region defined by be attractive invariant. feature essential reject disturbances handle parametric uncertainties. adaptive law activated when trajectory initiated outside invariant set function. gain VSC adapted according an adaptation law, which considers system input constraints. constrained bounded positive quantity. only applied during reaching phase. Once reaches set, barrier-function-based confine inside it. resulting overall controller chattering-free since barrier-function continuous. steady-state error limited minimal value specifying parameter. Numerical simulations conducted show efficiency new approach. Three types controllers compared. AVSCbf compared performance without (AVSC) both work. also classical from previous literature. results comparison showed proposed controller.