IWOA-SMC-ALADRC square wave tracking experiment.
<div><p>Electromagnetic levitation technology has several advantages, such as no friction, safety, and reliability. Electromagnetic levitation control, as the core of electromagnetic levitation technology, has attracted people’s attention. The use of other traditional control algorithms...
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2025
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| _version_ | 1852022775308353536 |
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| author | Ziwei Wu (11386352) |
| author2 | Kuangang Fan (17468338) Ping Yi (389595) |
| author2_role | author author |
| author_facet | Ziwei Wu (11386352) Kuangang Fan (17468338) Ping Yi (389595) |
| author_role | author |
| dc.creator.none.fl_str_mv | Ziwei Wu (11386352) Kuangang Fan (17468338) Ping Yi (389595) |
| dc.date.none.fl_str_mv | 2025-02-12T18:32:23Z |
| dc.identifier.none.fl_str_mv | 10.1371/journal.pone.0315457.g045 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/figure/IWOA-SMC-ALADRC_square_wave_tracking_experiment_/28402652 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Medicine Ecology Inorganic Chemistry Space Science Biological Sciences not elsewhere classified tracking performance due time delay characteristics system &# 8217 excessive adjustable parameters electromagnetic levitation technology electromagnetic levitation systems electromagnetic levitation system electromagnetic levitation control achieve stable control control method combining control method control algorithm work takes stochastic uncertainty simulation analysis several advantages results indicate research object proven using pd module nonlinear model mentioned issues lyapunov equation highly nonlinear experimental verification |
| dc.title.none.fl_str_mv | IWOA-SMC-ALADRC square wave tracking experiment. |
| dc.type.none.fl_str_mv | Image Figure info:eu-repo/semantics/publishedVersion image |
| description | <div><p>Electromagnetic levitation technology has several advantages, such as no friction, safety, and reliability. Electromagnetic levitation control, as the core of electromagnetic levitation technology, has attracted people’s attention. The use of other traditional control algorithms frequently results in a decline in the system’s anti-disturbance and tracking performance due to the highly nonlinear, stochastic uncertainty, and time delay characteristics of electromagnetic levitation systems. This work takes the single point electromagnetic levitation ball system as the research object to address the above-mentioned issues. A control method combining an improved whale optimization algorithm with robust sliding mode control and adaptive linear active disturbance rejection (IWOA-SMC-ALADRC) is proposed to achieve stable control of a single point electromagnetic levitation ball. Firstly, a nonlinear model of the electromagnetic levitation ball system was established; Secondly, robust sliding mode control is combined with linear active disturbance rejection control, and an adaptive parameter tuning strategy is introduced for the PD module in LADRC; Meanwhile, an improved whale optimization algorithm was proposed to address the issue of excessive adjustable parameters in the controller; In addition, the stability and convergence of the control algorithm were proven using the Lyapunov equation; Finally, in order to verify the effectiveness of the control method, PID, LADRC, CS-LADRC, and I-LADRC were introduced for simulation analysis and experimental verification. The results indicate that IWOA-SMC-ALADRC has better anti-disturbance and tracking performance.</p></div> |
| eu_rights_str_mv | openAccess |
| id | Manara_3dfd0cb0edea2db9bea6175e8c45428b |
| identifier_str_mv | 10.1371/journal.pone.0315457.g045 |
| network_acronym_str | Manara |
| network_name_str | ManaraRepo |
| oai_identifier_str | oai:figshare.com:article/28402652 |
| publishDate | 2025 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | IWOA-SMC-ALADRC square wave tracking experiment.Ziwei Wu (11386352)Kuangang Fan (17468338)Ping Yi (389595)MedicineEcologyInorganic ChemistrySpace ScienceBiological Sciences not elsewhere classifiedtracking performance duetime delay characteristicssystem &# 8217excessive adjustable parameterselectromagnetic levitation technologyelectromagnetic levitation systemselectromagnetic levitation systemelectromagnetic levitation controlachieve stable controlcontrol method combiningcontrol methodcontrol algorithmwork takesstochastic uncertaintysimulation analysisseveral advantagesresults indicateresearch objectproven usingpd modulenonlinear modelmentioned issueslyapunov equationhighly nonlinearexperimental verification<div><p>Electromagnetic levitation technology has several advantages, such as no friction, safety, and reliability. Electromagnetic levitation control, as the core of electromagnetic levitation technology, has attracted people’s attention. The use of other traditional control algorithms frequently results in a decline in the system’s anti-disturbance and tracking performance due to the highly nonlinear, stochastic uncertainty, and time delay characteristics of electromagnetic levitation systems. This work takes the single point electromagnetic levitation ball system as the research object to address the above-mentioned issues. A control method combining an improved whale optimization algorithm with robust sliding mode control and adaptive linear active disturbance rejection (IWOA-SMC-ALADRC) is proposed to achieve stable control of a single point electromagnetic levitation ball. Firstly, a nonlinear model of the electromagnetic levitation ball system was established; Secondly, robust sliding mode control is combined with linear active disturbance rejection control, and an adaptive parameter tuning strategy is introduced for the PD module in LADRC; Meanwhile, an improved whale optimization algorithm was proposed to address the issue of excessive adjustable parameters in the controller; In addition, the stability and convergence of the control algorithm were proven using the Lyapunov equation; Finally, in order to verify the effectiveness of the control method, PID, LADRC, CS-LADRC, and I-LADRC were introduced for simulation analysis and experimental verification. The results indicate that IWOA-SMC-ALADRC has better anti-disturbance and tracking performance.</p></div>2025-02-12T18:32:23ZImageFigureinfo:eu-repo/semantics/publishedVersionimage10.1371/journal.pone.0315457.g045https://figshare.com/articles/figure/IWOA-SMC-ALADRC_square_wave_tracking_experiment_/28402652CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/284026522025-02-12T18:32:23Z |
| spellingShingle | IWOA-SMC-ALADRC square wave tracking experiment. Ziwei Wu (11386352) Medicine Ecology Inorganic Chemistry Space Science Biological Sciences not elsewhere classified tracking performance due time delay characteristics system &# 8217 excessive adjustable parameters electromagnetic levitation technology electromagnetic levitation systems electromagnetic levitation system electromagnetic levitation control achieve stable control control method combining control method control algorithm work takes stochastic uncertainty simulation analysis several advantages results indicate research object proven using pd module nonlinear model mentioned issues lyapunov equation highly nonlinear experimental verification |
| status_str | publishedVersion |
| title | IWOA-SMC-ALADRC square wave tracking experiment. |
| title_full | IWOA-SMC-ALADRC square wave tracking experiment. |
| title_fullStr | IWOA-SMC-ALADRC square wave tracking experiment. |
| title_full_unstemmed | IWOA-SMC-ALADRC square wave tracking experiment. |
| title_short | IWOA-SMC-ALADRC square wave tracking experiment. |
| title_sort | IWOA-SMC-ALADRC square wave tracking experiment. |
| topic | Medicine Ecology Inorganic Chemistry Space Science Biological Sciences not elsewhere classified tracking performance due time delay characteristics system &# 8217 excessive adjustable parameters electromagnetic levitation technology electromagnetic levitation systems electromagnetic levitation system electromagnetic levitation control achieve stable control control method combining control method control algorithm work takes stochastic uncertainty simulation analysis several advantages results indicate research object proven using pd module nonlinear model mentioned issues lyapunov equation highly nonlinear experimental verification |