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

Alexandre De Langlade, Seiichiro Katsura

研究成果: Conference contribution

1 引用 (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 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.

元の言語English
ホスト出版物のタイトルProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
出版者Institute of Electrical and Electronics Engineers Inc.
ページ3081-3086
ページ数6
2017-January
ISBN(電子版)9781538611272
DOI
出版物ステータスPublished - 2017 12 15
イベント43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
継続期間: 2017 10 292017 11 1

Other

Other43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
China
Beijing
期間17/10/2917/11/1

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

これを引用

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

研究成果: Conference 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. : Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. 巻. 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. : Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. 巻 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. 巻 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. pp. 3081-3086
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