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

Alexandre De Langlade, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1328-1333
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7 32017 7 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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