Application of a Model Reference Adaptive Feedback Linearization Controller to a Magnetic Telemanipulation System

被引：0

作者：

Shameli, Ehsan ^{[1
]}

Khamesee, Mir Behrad ^{[1
]}

Huissoon, Jan Paul ^{[1
]}

机构：

[1] Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada

来源：

2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2 | 2008年

关键词：

Magnetic levitation; dynamic modeling; feedback linearization; adaptive control;

D O I：

10.1109/ICMA.2008.4798755

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an adaptive controller design for a telemanipulation system with a varying mass. The telemanipulation system levitates a microrobot with weight of 28(gr). The levitated robot is equipped with a micro gripper and is designed for precise pick and place operations, and carrying payloads as heavy as 8(gr). In this paper, a model reference adaptive feedback linearization (MRAFL) controller is designed so as to reject the effects of variations in the mass of the levitated robot. Through experimental results it is shown that the proposed MRAFL controller is capable of rejecting mass variations as big as 30% of the robot's initial mass without any considerable effect on the positioning accuracy of the system.

引用

页码：219 / 223

页数：5

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