Terminal sliding mode controller for Magnetic Levitation system using Particle Swarm Optimization

This proposed paper briefs the design of a terminal sliding mode controller (TSMC) which is known for faster time convergence and high robustness. This proposed controller scheme is for a magnetic levitation system to control the position of the ball. The non-linear model of a magnetic levitation system consists of mechanical and electrical units that are taken into account. In this scheme, the TSMC switching surface contains integration and fraction to error variables. The terminal switching surface contains designed parameters and these parameters can be obtained with the help of particle swarm optimization (PSO). This controller scheme provides chattering less response, less control input effort and faster response convergence. The TSMC has been compared with a conventional Sliding mode control regarding the chattering effect in control input and settling time. The TSMC is designed to attain high robustness against disturbances and parameter variations The simulations are included for authenticating the adequacy of the proposed scheme.