Abstract：This paper established mathematical model of the static maglev vehicle,by using kinetic energy equation and Lagrange equation firstly. Aiming at strong nonlinear,time-varying control problem of suspended vehicle,an adaptive variable universe fuzzy sliding mode and PID hybrid controller was proposed. With the expandable and shrinkable factor of the fuzzy and sliding mode conditions,the adaptive law was derived based on Lyapunov stability conditions of the control strategy. In order to eliminate the chattering in sliding-mode and achieve a smooth transition,the supervisory controller was designed correspondingly. Finally simulation and experimental analysis had been done,the results show the validity of the given control strategy.
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2013, Vol. 28 
