Robust Adaptive Fault-Tolerant Control for MAGLEV Train Systems: A Nonsingular Finite-Time Approach

The magnetic levitation (MAGLEV) train faces challenging conditions, including actuator faults, high-bandwidth disturbances, and parametric uncertainties. This study presents a nonsingular fast terminal sliding mode controller renowned for its robustness and rapid convergence. The barrier function technique is employed to mitigate the adverse effects of high-bandwidth disturbances and to regulate energy consumption. The proposed controller utilizes a hyperbolic tangent function at the sliding surface (SS) and control input to alleviate issues caused by the sign function. Hardware results using the OPAL-RT system and MATLAB simulations authenticate the efficacy of the proposed controller in mitigating actuator faults and high-bandwidth disturbances, enabling the system to accurately follow defined paths with high convergence speed and minimal chattering. In addition, the study compares the performance of this controller with two other methods and presents the comparative results. In conclusion, the nonsingular adaptive barrier fast terminal sliding mode control (SMC), incorporating the hyperbolic tangent function, performs optimally in addressing issues related to actuator faults and high-bandwidth disturbances in the MAGLEV train system.