Title :
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
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;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5159998
