Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control

Rudi Uswarman; Adha Iman Cahyadi; Oyas Wahyunggoro; Rudi Uswarman; Adha Iman Cahyadi; Oyas Wahyunggoro

doi:10.14203/j.mev.2014.v5.17-26

Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control

Rudi Uswarman, Adha Iman Cahyadi, Oyas Wahyunggoro

Abstract

This paper presents global sliding mode control and conventional sliding mode control for stabilization position of a levitation object. Sliding mode control will be robusting when in sliding mode condition. However, it is not necessarily robust at attaining phase. In the global sliding mode control, the attaining motion phase was eliminated, so that the robustness of the controller can be improved. However, the value of the parameter uncertainties needs to be limited. Besides that, the common problem in sliding mode control is high chattering phenomenon. If the chattering is too large, it can make the system unstable due the limited ability of electronics component. The strategy to overcome the chattering phenomenon is needed. Based on simulation and experimental results, the global sliding mode control has better performance than conventional sliding mode control.

10.14203/j.mev.2014.v5.17-26

Keywords

magnetic levitation system; global sliding mode control; conventional sliding mode control; chattering

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References

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About The Authors

Rudi Uswarman
Universitas Gadjah Mada
Indonesia

Rudi Uswarman was born June, 1989 in Air Manjunto, Indonesia. He did his undergraduate study at Universitas Islam Indonesia in Yogyakarta, Indonesia. He received his Bachelor of electrical engineering in 2011. He member of robotics research group at Universitas Islam Indonesia in 2008-2011 ,and he actively in robotic contests. He participates in line follower robot contests and Indonesian robotic contest in 2009 and 2010. After graduated he continue his Master degree of electrical engineering at Universitas Gadjah Mada, and he graduated in 2014. His major research interests include control and instrumentation engineering.

Adha Iman Cahyadi
Universitas Gadjah Mada
Indonesia

Adha Imam Cahyadi graduated from Dept of Electrical Engineering, Universitas Gadjah Mada in 2002. He obtained his master degree in Control Engineering from KMITL, Thailand in 2005. Later he got his Ph.D in Robotics from Tokai University Japan in 2008. Dr. Cahyadi joined Dept. of Electrical Engineering as faculty staff from 2008 where he is now an assistant professor. His research interests include stabilization of delayed process, Robot teleoperation, Multi UAVs formation control as well as non-linear control theory. He is a regular member of IEEE and Indonesian Soft Computing. Moreover, he also served international journals as reviewers such as Industrial Robots, Sensor Review, Rapid Prototyping and other journals like IEEE Transaction on Education.

Oyas Wahyunggoro
Universitas Gadjah Mada
Indonesia

Oyas Wahyunggoro was born on 28 November, 1967, in Yogyakarta, Indonesia. He took his undergraduate program at Electrical Engineering, Universitas Gadjah Mada, Indonesia. He received his undergraduate degree (Ir) in 1993. He has been working at Department of Electrical Engineering and Information Technology, Engineering Faculty, Universitas Gadjahmada, Indonesia since 1994. During his work, He continued taking his postgraduate program at Electrical Enginering, Universitas Gadjah Mada, Indonesia and received his master degree (M.T.) in 2001. He continued taking his doctorate program at Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, Malaysia and received his PhD degree in 2011. Now, his designation is Associate Professor. His research interest is intelligent control with fuzzy logic and evolutionary computations (genetic algorithms)

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