Path following using transverse feedback linearization: Application to a maglev positioning system

• DOI: 10.1016/j.automatica.2010.01.009
• Publication Date: 2010-01-30T09:27:26Z
• Authors: Christopher Nielsen; Cameron Fulford; Manfredi Maggiore
• Keywords: 0202 electrical engineering, electronic engineering, information engineering; 02 engineering and technology

This article presents an approach to path following control design based on transverse feedback linearization. A “transversal” controller is designed to drive the output of the plant to the path. A “tangential” controller meets application-specific requirements on the path, such as speed regulation and internal stability. This methodology is applied to a five degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results demonstrate the effectiveness of our control design.