Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing

Alexandre De Langlade, Seiichiro Katsura

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

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 micro-surgery. So far, position control has been achieved up to 5 Degrees of Freedom with robustness against model uncertainties. In order to achieve robust control against non predicted disturbances, this paper uses a disturbance observer (DOB) which adapts to the non-linearity of the system. Disturbance observers require fast and accurate position sensing in order to estimate and compensate the disturbance accurately. The proposed method depends even more on the quality of the position sensing. To ensure good performances, robust stability conditions are derived regarding position feedback, and the proposed DOB is validated by simulations and experiments.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3081-3086
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 2017 Dec 15
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 2017 Oct 292017 Nov 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period17/10/2917/11/1

Fingerprint

Magnetic Levitation
Magnetic levitation
Nonlinear Observer
Disturbance Observer
Position Control
Position control
Sensing
Robust control
Disturbance
Robustness (control systems)
Surgery
Permanent magnets
Robustness
Permanent Magnet
Model Uncertainty
Robust Stability
Robust Control
Feedback
Stability Condition
Degree of freedom

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

Cite this

De Langlade, A., & Katsura, S. (2017). Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (Vol. 2017-January, pp. 3081-3086). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8216520

Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing. / De Langlade, Alexandre; Katsura, Seiichiro.

Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. p. 3081-3086.

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

De Langlade, A & Katsura, S 2017, Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 3081-3086, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, China, 17/10/29. https://doi.org/10.1109/IECON.2017.8216520
De Langlade A, Katsura S. Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3081-3086 https://doi.org/10.1109/IECON.2017.8216520
De Langlade, Alexandre ; Katsura, Seiichiro. / Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. pp. 3081-3086
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