Event-Driven Robust Model Predictive Control for Electromagnetic Levitation Systems With Voltage Fluctuation Constraints

In this article, the levitation control problem of electromagnetic levitation systems subject to track irregularities, air gap and vertical velocity and voltage fluctuation constraints are taken into account. An equivalent tracking model is established, which incorporates the flux density as a state variable to simplified the derivation of the robust constraints. With these robust constraints in place, a novel robust hierarchical control strategy is developed, which combines feedback linearization techniques with event-triggered robust model predictive control (ERMPC). Moreover, the theoretical properties are investigated, including recursive feasibility and closed-loop stability. Finally, to verify the superiority of the proposed control, simulations are conducted and compared with the conventional ERMPC, RMPC algorithms, and the proposed strategy under different parameter environments. The results demonstrate that the proposed algorithm can effectively reduce the frequency of controller updates and improve levitation performance while addressing various constraints, thereby enhancing system stability and safety.