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Turkish Journal of Electrical Engineering and Computer Sciences

Author ORCID Identifier

ABDELKADER KERRACI: 0000-0002-5529-4486

MOHAMED FAYÇAL KHELFI: 0000-0001-7060-1547

ZOUBIR AHMED-FOITIH: 0000-0003-3121-9964

DOI

10.55730/1300-0632.4107

Abstract

This paper proposes an enhanced Conditional Integrator Sliding Mode Controller using Particle Swarm Optimization (CISMCPSO) for a magnetic levitation system (MLS). The main advantage of this controller is its robustness to uncertainties and disturbances, which also avoids chattering and ensures zero static steady-state error. The main idea of CISMCPSO is to activate its integral action only when the sliding surface reaches the boundary layer while it is reduced to zero or close to zero elsewhere, which avoids destroying the transient response caused by the conventional integral sliding-mode controller. A particle swarm optimization algorithm schedules the conditional integral term parameter of the controller to improve the performance of the controlled system. Several MATLAB simulations were carried out on a magnetic levitation system under very challenging conditions, with $\pm 30\%$ uncertainty of the MLS ball mass with external disturbances. Compared to other sliding-mode controllers, the obtained simulation outputs of CISMCPSO model validate and illustrate the efficiency of the proposed controller.

Keywords

conditional integrator, magnetic levitation system, particle swarm optimization, Sliding mode control

First Page

867

Last Page

882

Creative Commons License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

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