A novel passivity-based controller for an active magnetic bearing benchmark experiment

Rodríguez, H.; Mareels, Iven

doi:10.1109/acc.2000.879580

Cited by 19 publications

(27 citation statements)

References 6 publications

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“…Remark 4 It is clear that the MagLev benchmark example considered in [29] is a particular case of the 2-dof considered above. Therefore, the observer technique developed to solve the latter will be directly applicable to the former example.…”

Section: Model Of the Maglev Systems And Problem Formulationmentioning

confidence: 99%

“…With the knowledge of the flux we propose suitably tailored nonlinear observers for the mechanical coordinates, obtaining in this way a globally convergent solution to the posed observation problem. To complete the sensorless controller design the observed state is then replaced in the globally asymptotically stabilizing interconnection and damping assignment passivity-based controller (IDA-PBC) reported in [28], see also [29].…”

Section: Introductionmentioning

confidence: 99%

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A state observer for sensorless control of magnetic levitation systems

et al. 2018

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In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the electrical supply. Instrumental for the development of the theory is the use of parameter estimation-based observers, which combined with the dynamic regressor extension and mixing parameter estimation technique, allow the reconstruction of the magnetic flux. With the knowledge of the latter it is shown that the mechanical coordinates can be estimated with suitably tailored nonlinear observers. Replacing the observed states, in a certainty equivalent manner, with a full information globally stabilising law completes the sensorless controller design. We consider one and two-degrees-of-freedom systems that, interestingly, demand totally different mathematical approaches for their solutions. Simulation results are used to illustrate the performance of the proposed schemes.

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Section: Model Of the Maglev Systems And Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A state observer for sensorless control of magnetic levitation systems

et al. 2018

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“…The inequality of (9) can be utilized to upper bound (15) in the following manner P_< -k l + -tanh'(k3r) ( …”

Section: In (7) the Following Inequality Can Be Illustrated (See Appmentioning

confidence: 99%

Nonlinear disturbance rejection for magnetic levitation systems

Fang

Feemster²,

Dawson³

2003

Proceedings of the 2003 IEEE International Symposium on Intelligent Control ISIC-03

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In this paper, a position regulation contml rtmtegy is developed for (L magnetic levitation system opemting in the presence of a bounded, nonlinear, periodic disturbance. The pmposed contmller utilizes a sotumted control fone input in conjunction k6th D learning based dbturbonce mtimntor to 's$"-totically regulate the target mom to D desimd set point position despite the oetuotor's unidirectional limitation of ezerting only an attmctiw fome on the target moss (i.e., the contml input a n only generate on ottmctiue fone while the earth's gmvitotionol field b utilized to pmdtrce the reptrlsive action). In addition, the contml development on$ re&w the disturbonce input to be bounded and penodic in notum. Simulation results ore included to illustrate the perfomonce of the contml stmtegy.

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“…IDA-PBC uses the hamiltonian framework, it consists in solving the PDE associated to the energy balance equation. This technique has been applied to various plants : Mechanical systems [6], [7], magnetic levitation systems [8], [9], mass balance systems [10], electrical machines [11], [12], power converters [13]. For an in-depth review of IDA-PBC the reader is referred to [14].…”

Section: Introductionmentioning

confidence: 99%

External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

Haddad

Chemori

Belghith

2014

2014 IEEE Conference on Control Applications (CCA)

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Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of IDA-PBC controller to the Inertia Wheel Inverted Pendulum (IWIP) in the presence of external disturbances. Simulations and real-time experimental results are presented as validations of the theoretical results.

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A novel passivity-based controller for an active magnetic bearing benchmark experiment

Cited by 19 publications

References 6 publications

A state observer for sensorless control of magnetic levitation systems

A state observer for sensorless control of magnetic levitation systems

Nonlinear disturbance rejection for magnetic levitation systems

External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

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