TY - JOUR
T1 - Trajectory tracking control with state restricted gains for a magnetic pendulum using electromagnetic actuators
AU - Lázaro, Rafael Perez San
AU - Fuentes-Aguilar, Rita
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2023 ISA
PY - 2023/8
Y1 - 2023/8
N2 - Electromagnetic actuation results suitable for wireless driven motion, where the estimation of the force between magnetic elements is usually required. This force can lead to states where the magnetic-mechanical system remains fixed, requiring constraints to avoid the transgression of these states, and Barrier Lyapunov Functions (BLF) are useful for this purpose. This work presents an adaptive controller with BLF in a magnetic pendulum with state restrictions. It employs fixed electromagnets to induce motion on a pendulum with a permanent magnet as its bob. The force between the magnetic elements is obtained through approximation functions. A new implementation strategy for the control gains introduces the effect of state restrictions on the control action based on a control BLF. Results are analyzed in both simulations and experimental stages, which prove the advantages of employing BLF controllers in mechanical systems that require the avoidance of specific boundaries.
AB - Electromagnetic actuation results suitable for wireless driven motion, where the estimation of the force between magnetic elements is usually required. This force can lead to states where the magnetic-mechanical system remains fixed, requiring constraints to avoid the transgression of these states, and Barrier Lyapunov Functions (BLF) are useful for this purpose. This work presents an adaptive controller with BLF in a magnetic pendulum with state restrictions. It employs fixed electromagnets to induce motion on a pendulum with a permanent magnet as its bob. The force between the magnetic elements is obtained through approximation functions. A new implementation strategy for the control gains introduces the effect of state restrictions on the control action based on a control BLF. Results are analyzed in both simulations and experimental stages, which prove the advantages of employing BLF controllers in mechanical systems that require the avoidance of specific boundaries.
KW - Barrier Lyapunov function
KW - Electromagnetic actuators
KW - Magnetic actuation
KW - Simple pendulum
UR - http://www.scopus.com/inward/record.url?scp=85151873408&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2023.03.036
DO - 10.1016/j.isatra.2023.03.036
M3 - Artículo
C2 - 37031028
AN - SCOPUS:85151873408
SN - 0019-0578
VL - 139
SP - 475
EP - 483
JO - ISA Transactions
JF - ISA Transactions
ER -