Robust switched control of an air levitation system with minimum sensing

Abstract

This work studies the control problem of an air levitation system with limited sensing capabilities. We propose a simple but considerably robust switched controller. We prove that the output of the system is globally uniformly ultimately bounded with a bound as small as we desire and we show through simulations and real experiments the robustness of the controller in the presence of disturbances, model uncertainties and parameter tuning.

Keywords: Air levitation system; Nonlinear control systems; Robust control; Sliding mode control.