Intelligent adaptive backstepping control system for magnetic levitation apparatus

Faa Jeng Lin, Li Tao Teng, Po Huang Shieh

Research output: Contribution to journalArticlepeer-review

64 Scopus citations


We propose an intelligent adaptive backstepping control system using a recurrent neural network (RNN) to control the mover position of a magnetic levitation apparatus to compensate for uncertainties, including friction force. First, we derive a dynamic model of the magnetic levitation apparatus. Then, we suggest an adaptive backstepping approach to compensate disturbances, including the friction force, occurring in the motion control system. To further increase the robustness of the magnetic levitation apparatus, we propose an RNN estimator for the required lumped uncertainty in the adaptive backstepping control system. We further propose an online parameter training methodology, derived by the gradient descent method, to increase the learning capability of the RNN. The effectiveness of the proposed control scheme has been verified by experiment. With the proposed adaptive backstepping control system using RNN, the mover position of the magnetic levitation apparatus possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic trajectories.

Original languageEnglish
Pages (from-to)2009-2018
Number of pages10
JournalIEEE Transactions on Magnetics
Issue number5
StatePublished - May 2007


  • Adaptive baekstepping control
  • Lumped uncertainty
  • Magnetic levitation
  • Recurrent neural network


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