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

Authors:
Christopher Nielsen;Cameron Fulford;Manfredi Maggiore
Affiliations:
Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON, Canada;Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON, Canada;Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON, Canada
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 4
Cited 0

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Abstract

This article presents an approach to path following control design based on transverse feedback linearization. A "transversal" controller is designed to drive the output of the plant to the path. A "tangential" 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.