Robust Control for Suspension System of Maglev Train Considering Parametric Uncertainty and Unidirectional Input Constraint

In the face of EMS type maglev train suspension system being susceptible to interference, non-negativity and saturation of control input, this paper adopts an adaptive robust control algorithm. By transforming the disturbance lumped term and the unmatched term in the dynamic equation, a control law is designed to compensate for parameter uncertainty and ensure input unidirectionality. The proposed method is rigorously proven to be asymptotically stable without requiring system linearization. Three sets of experiments were conducted on Changsha medium and low-speed maglev test train. The results show that the proposed method can quickly and accurately track the specified suspension gap, reduce gap oscillation and input maximum value and is robust to external interference.