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

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 are provided that demonstrate the effectiveness of our control design. Key words: path following, path following manifold, set stabilization, transverse feedback linearization, contactless positioning stage, magnetic levitation.

• Type: Journal
• Year: 2010
• Where: AUTOMATICA
• Authors: Christopher Nielsen, Cameron Fulford, Manfredi Maggiore
• Keywords: Application-specific Requirements, AUTOMATICA 2010, Control Design, Feedback Linearization