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Journal ArticleDOI

Nonlinear full-order observer-based controller design for active magnetic levitation via LQR-feedback linearisation

15 Jul 2016-International Journal of Modelling, Identification and Control (Inderscience Publishers (IEL))-Vol. 26, Iss: 1, pp 59-67
TL;DR: This paper presents the exact input-state feedback linearisation of a nonlinear Maglev system using estimated states and derives a tracking controller for magnetic levitation from the observed states.
Abstract: Magnetic levitation (Maglev) systems are highly beneficial in industrial applications owing to their reduced power consumption, increased power efficiency and reduced cost of maintenance. Common applications include Maglev power generation (e.g., wind turbine), Maglev trains and medical devices (e.g., magnetically suspended artificial heart pump). This paper presents the exact input-state feedback linearisation of a nonlinear Maglev system using estimated states. The observed states from a nonlinear dynamic full-order observer are used as inputs to the controller where the control law does not need to be expressed in terms of all measured variables. Then, a linear quadratic regulator is used as an optimal controller for the linearised model to guarantee the stability of the observer-based control scheme and, finally, a tracking controller for magnetic levitation is derived.
Citations
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Proceedings ArticleDOI
21 Jun 2016
TL;DR: This paper proposes fuzzy sliding-mode controller `FSMC' with a nonlinear observer been used to estimate the unmeasured states of the Maglev system and results show that the proposed observer and control strategy perform well.
Abstract: Magnetic levitation (Maglev) systems make significant contribution to industrial applications due their reduced power consumption, increased power efficiency and reduced cost of maintenance. Common applications include Maglev power generation (e.g. wind turbine), Maglev trains and medical devices (e.g. magnetically suspended artificial heart pump). This paper proposes fuzzy sliding-mode controller ‘FSMC’ with a nonlinear observer been used to estimate the unmeasured states. Simulations are performed with nonlinear mathematical model of the Maglev system, and the results show that the proposed observer and control strategy perform well.

7 citations


Cites methods from "Nonlinear full-order observer-based..."

  • ...The linear gain G was calculated according to the formula with the value of a=50, that was used in [8] the form of...

    [...]

Dissertation
20 Sep 2018
TL;DR: In this article, the authors designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot, which has many potential applications, such as cell manipulation, and pick and place operations.
Abstract: The ability of external magnetic fields to precisely control micromanipulator systems has received a great deal of attention from researchers in recent years due to its off-board power source. As these micromanipulators provide frictionless motion, and precise motion control, they have promising potential applications in many fields. Conversely, major drawbacks of electromagnetic micromanipulators, include a limited motion range compared to the micromanipulator volume, the inability to handle heavy payloads, and the need for a large drive unit compared to the size of the levitated object, and finally, a low ratio of the generated magnetic force to the micromanipulator weight. To overcome these limitations, we designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot. The design and optimization procedures for building a three Degree of Freedoms (DOF) electromagnetic finger micromanipulator are firstly introduced. This finger micromanipulator has many potential applications, such as cell manipulation, and pick and place operations. The system consists of two main subsystems: a magnetic actuator, and an electromagnetic end-effector that is connected to the magnetic actuator by a needle. The magnetic actuator consists of four permanent magnets and four electromagnetic coils that work together to guide the micromanipulator finger in the xz plane. The electromagnetic end-effector consists of a rod shape permanent magnet that is aligned along the y axis and surrounded by an electromagnetic coil. The optimal configuration that maximizes the micromanipulator actuation force, and a closed form solution for micromanipulator magnetic actuation force are presented. The model is verified by measuring the interaction force between an electromagnet and a permanent magnet experimentally, and using Finite Element Methods (FEM) analysis. The

1 citations


Cites background from "Nonlinear full-order observer-based..."

  • ...A considerable body of literature has grown up around the use of the state-feedback linearization control method to control magnetic levitation systems [101, 102, 103, 104, 105]....

    [...]

References
More filters
Proceedings ArticleDOI
21 Jun 2016
TL;DR: This paper proposes fuzzy sliding-mode controller `FSMC' with a nonlinear observer been used to estimate the unmeasured states of the Maglev system and results show that the proposed observer and control strategy perform well.
Abstract: Magnetic levitation (Maglev) systems make significant contribution to industrial applications due their reduced power consumption, increased power efficiency and reduced cost of maintenance. Common applications include Maglev power generation (e.g. wind turbine), Maglev trains and medical devices (e.g. magnetically suspended artificial heart pump). This paper proposes fuzzy sliding-mode controller ‘FSMC’ with a nonlinear observer been used to estimate the unmeasured states. Simulations are performed with nonlinear mathematical model of the Maglev system, and the results show that the proposed observer and control strategy perform well.

7 citations

Dissertation
20 Sep 2018
TL;DR: In this article, the authors designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot, which has many potential applications, such as cell manipulation, and pick and place operations.
Abstract: The ability of external magnetic fields to precisely control micromanipulator systems has received a great deal of attention from researchers in recent years due to its off-board power source. As these micromanipulators provide frictionless motion, and precise motion control, they have promising potential applications in many fields. Conversely, major drawbacks of electromagnetic micromanipulators, include a limited motion range compared to the micromanipulator volume, the inability to handle heavy payloads, and the need for a large drive unit compared to the size of the levitated object, and finally, a low ratio of the generated magnetic force to the micromanipulator weight. To overcome these limitations, we designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot. The design and optimization procedures for building a three Degree of Freedoms (DOF) electromagnetic finger micromanipulator are firstly introduced. This finger micromanipulator has many potential applications, such as cell manipulation, and pick and place operations. The system consists of two main subsystems: a magnetic actuator, and an electromagnetic end-effector that is connected to the magnetic actuator by a needle. The magnetic actuator consists of four permanent magnets and four electromagnetic coils that work together to guide the micromanipulator finger in the xz plane. The electromagnetic end-effector consists of a rod shape permanent magnet that is aligned along the y axis and surrounded by an electromagnetic coil. The optimal configuration that maximizes the micromanipulator actuation force, and a closed form solution for micromanipulator magnetic actuation force are presented. The model is verified by measuring the interaction force between an electromagnet and a permanent magnet experimentally, and using Finite Element Methods (FEM) analysis. The

1 citations