Robust Adaptive Fault-Tolerant Control for Uncertain Magnetic Levitation System

In this paper, a robust adaptive fault-tolerant controller (RAFTC) is proposed to solve output tracking control of uncertain magnetic levitation, i.e., maglev, system subjected to time-varying actuator faults. At first, the dynamic model of the maglev system is established, then the model is transformed into linear system via feedback linearization. The time-varying actuator faults including loss of effectivness and bias fault are considered in the controller design based on backstepping method. The adaptive law with smooth projection modification is introduced to deal with the effect of parameter uncertainties and disturbances in the system. The stability analysis of the closed-loop system is given. Finally, simulation results verified the effectiveness of the proposed controller.