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Sensor fault‐tolerant control of a magnetic levitation system
Author(s) -
Yetendje Alain,
Seron Maria M.,
Doná José A. De,
Martínez John J.
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1572
Subject(s) - maglev , control theory (sociology) , magnetic levitation , estimator , levitation , linearization , fault tolerance , control engineering , engineering , feedback linearization , fault (geology) , fault detection and isolation , position sensor , point (geometry) , computer science , control (management) , actuator , nonlinear system , magnet , rotor (electric) , mathematics , artificial intelligence , mechanical engineering , physics , quantum mechanics , statistics , geometry , seismology , geology , electrical engineering , reliability engineering
In this paper, a fault‐tolerant switching control strategy is implemented on a magnetic levitation (MAGLEV) system. Two sensors are embedded in the MAGLEV system and their measurements used by two independent estimators. Each sensors–estimator combination, together with a feedback controller can levitate and stabilize a 1‐in steel ball at a desired position in the air. The paper focuses on the design and testing of a switching scheme which, at each instant of time, selects the sensors–estimator combination that provides the best closed loop performance based on a chosen criterion. Theoretical results on the system linearization around an operating point ensure local closed‐loop stability and good performance under the occurrence of an abrupt fault in one of the plant sensors. Experimental results are provided which confirm the fault‐tolerant capabilities of the strategy. Copyright © 2010 John Wiley & Sons, Ltd.