Implementation of a linear quadratic bumpless transfer method to a magnetically levitated planar actuator with moving magnets

K.K. Kowalski, J. Achterberg, C.M.M. Lierop, van, P.P.J. Bosch, van den

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
171 Downloads (Pure)

Abstract

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.
Original languageEnglish
Title of host publicationProceedings 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 PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2203-2208
ISBN (Print)978-1-4244-5362-7
DOIs
Publication statusPublished - 2010

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