A linear quadratic bumpless transfer technique for a six-degree-of-freedom planar actuator with integrated active magnetic bearing is proposed to solve the lift-off and landing problem by switching between different controller sets. The need for multiple controller operation states results from the difference between robustness and wind-up concerns during lift-off and landing and the high performance tracking requirements for accurate operation. A procedure for tuning the plant input and error matrices used in the Linear Quadratic Bumpless Transfer method based on new observations is presented. The procedure has been applied to synthesize a bidirectional bumpless switching mechanism that was successfully applied and tested on a 6 DOF laboratory setup.
|Title of host publication||Proceedings of the 2010 IEEE International Conference on Control Applications (CCA 2010), part of the 2010 IEEE Multi-Conference on Systems and Control (MSC 2010), 8-10 September 2010, Yokohama, Japan|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2010|