TY - GEN
T1 - Position control of a magnetic levitation device using a disturbance observer and associated remote sensing
AU - De Langlade, Alexandre
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 151203009, 2017.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85028772266&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2017.8014202
DO - 10.1109/AIM.2017.8014202
M3 - Conference contribution
AN - SCOPUS:85028772266
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1328
EP - 1333
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -