1. Magnetically Levitated Six-DOF Precision Positioning Stage With Uncertain Payload
- Author
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Sergei Basovich, Yonattan Menaker, Ziv Brand, and Shai Arogeti
- Subjects
010302 applied physics ,Equilibrium point ,0209 industrial biotechnology ,Engineering ,Iterative and incremental development ,Positioning system ,business.industry ,Iterative learning control ,Stability (learning theory) ,02 engineering and technology ,01 natural sciences ,Computer Science Applications ,020901 industrial engineering & automation ,Control and Systems Engineering ,Control theory ,0103 physical sciences ,Convergence (routing) ,Algorithm design ,Contraction mapping ,Electrical and Electronic Engineering ,business - Abstract
This paper considers the set-point control problem of an uncertain six-degree-of-freedom precision positioning system, where only position measurements are available. As a solution, we present an iterative output feedback control algorithm whose learning mechanism is based on the concept of contraction mapping. Besides stability and convergence, the presented analysis includes practical aspects associated with the algorithm implementation. In particular, it is shown that: 1) the system response due to the iterative process converges to an arbitrarily small neighborhood of the desired equilibrium point, and 2) the steady-state response after each iteration is bounded inside the system traveling range. The presented control algorithm is demonstrated experimentally.
- Published
- 2016
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