Path following using transverse feedback linearization: Application to a maglev positioning system

Author

Nielsen, Christopher ; Fulford, Cameron ; Maggiore, Manfredi

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada

fYear

2009

fDate

10-12 June 2009

Firstpage

3045

Lastpage

3050

Abstract

This article presents an approach to path following control design based on transverse feedback linearization. A ldquotransversalrdquo controller is designed to drive the output of the plant to the path. A ldquotangentialrdquo controller meets application-specific requirements on the path, such as speed regulation and internal stability. This methodology is applied to a five degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results demonstrate the effectiveness of our control design.

Keywords

control system synthesis; feedback; magnetic levitation; position control; stability; velocity control; Maglev positioning system; degree-of-freedom; internal stability; magnetically levitated positioning system; path following control design; speed regulation; tangential controller; transversal controller; transverse feedback linearization; Control design; Control systems; Impedance matching; Linear feedback control systems; Magnetic levitation; Manifolds; Motion control; Output feedback; Stability; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5159998

Filename

5159998