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Nonlinear Adaptive Sliding Mode Control of a Rigid Rotor via Contactless Active Bearing

Sherine Jesna V. A 1, Winston Netto 2, and S. Ushakumari 3
1. Dept. of Mechatronics Engineering, Manipal Institute of Technology, Manipal Academy of Higher Education, Karnataka, India
2. Dept. of Instrumentation and Control Engineering, Manipal Institute of Technology
3. Dept. of Electrical and Electronics Engineering, College of Engineering, Trivandrum, India

Abstract—Three-pole Active Magnetic Bearing AMB is a cost-effective method for implementing the principle of magnetic levitation in rotary devices as a bearing support. The nonlinear and unstable nature of three-pole AMB is a challenge for controller design. This study investigates the nonlinear characteristics of three-pole AMB and the design of a sliding mode controller to control AMB dynamics. The system is standardised into extended controllable canonical form, and the controller is designed. The inherent chattering of the sliding mode controller is also addressed with a solution of sliding gain adaptation. The simulation of the controller and the AMB analyses the performance of a system using the proposed controller. 

Index Terms—three-pole AMB, mechatronics, output feedback linearisation, extended dynamics, sliding mode control, sliding gain adaptation, adaptive control

Cite: Sherine Jesna V. A, Winston Netto, and S. Ushakumari, "Nonlinear Adaptive Sliding Mode Control of a Rigid Rotor via Contactless Active Bearing," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 1, pp. 52-58, January 2019. DOI: 10.18178/ijmerr.8.1.52-58