Magnetically Levitated Six-DOF Precision Positioning Stage With Uncertain Payload


This paper considers the set-point control drawback of an unsure six-degree-of-freedom precision positioning system, where only position measurements are out there. As a answer, we gift 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 sensible aspects related to the algorithm implementation. In explicit, it is shown that: 1) the system response thanks to the iterative method converges to an arbitrarily tiny neighborhood of the required equilibrium purpose, and a couple of) the steady-state response after each iteration is bounded inside the system traveling vary. The presented control algorithm is demonstrated experimentally.

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