Optimization of Energy for Tracking of the Magnetic Levitation Ball Using the SDRE Technique
Publish Year: 1400
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JADSC-4-2_008
تاریخ نمایه سازی: 15 مهر 1402
Abstract:
This paper was dealt with the optimization of energy for tracking the magnetic levitation ball by using the technique of State-Dependent Riccati Equation. The magnetic levitation ball is widely used in various fields. This system includes a steel ball suspended by electromagnetic force. The differential equations of this system are nonlinear. Generally, first, these nonlinear equations are linearized around an equilibrium point. Then, a Linear Quadratic Tracker controller is designed for this system. Note that this system has a non-zero equilibrium point. However, in the technique of State-Dependent Riccati Equation, the nonlinear equations are linearized by using the method of State-Dependent Coefficients. If the system is pointwise stabilizable and detectable, the State-Dependent Riccati Equation has an answer. Then, an optimal control law is extracted so that the energy of tracking is minimized. In the end, it has been shown that four different trajectories are tracked appropriately using the proposed method.
Keywords:
Magnetic levitation ball , Optimization energy for tracking , State-Dependent Riccati Equation , State-Dependent Coefficients
Authors
Seyyed Mostafa Ghadami
Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul ,Iran,
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