TY - GEN
T1 - Position control of a magnetic levitation device using a non-linear disturbance observer and influence of the position sensing
AU - De Langlade, Alexandre
AU - Katsura, Seiichiro
N1 - Funding Information:
ACKNOWLEDGMENT This study was partially supported by the Takahashi Industrial and Economic Research Foundation.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
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 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.
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 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.
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U2 - 10.1109/IECON.2017.8216520
DO - 10.1109/IECON.2017.8216520
M3 - Conference contribution
AN - SCOPUS:85046691336
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 3081
EP - 3086
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -