Position control of a magnetic levitation device using a disturbance observer and associated remote sensing

Alexandre De Langlade, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a method to improve the robustness of the position control of a small permanent magnet within a living organism, such as the human body in microsurgery. So far, position control has been achieved up to 5 Degrees of Freedom with robustness against predicted and modelled disturbance. In order to achieve robust control against non predicted disturbances, the use of a disturbance observer was proved efficient in the past. Disturbance observers require fast and accurate position sensing, which has been achieved so far by optical position sensing. In an effort to extend the operational range of magnetic levitation systems, this paper also considers the use of a position sensor which does not rely on optical sensors, but inductance variation. The models for simulations are based on the Octomag system, which is one of the most up-To-date magnetic levitation devices.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1328-1333
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    De Langlade, A., & Katsura, S. (2017). Position control of a magnetic levitation device using a disturbance observer and associated remote sensing. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1328-1333). [8014202] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014202