Nonlinear Passive Observer for Motion Estimation in Multi-Axis Precision Motion Control

被引：0
|
作者：
Gutierrez, Hector [1 ]
Li, Dengfeng [1 ]
机构：
[1] Florida Inst Technol, Dept Mech Engn, Melbourne, FL 32901 USA
来源：
MACHINES | 2024年 / 12卷 / 06期
基金：
美国国家科学基金会;
关键词：
nonlinear observer; passive observer; magnetic suspension stage; multi-axis precision motion control; Lyapunov analysis; DISSIPATIVE DYNAMICAL-SYSTEMS; SLIDING MODE OBSERVER; SEPARATION PRINCIPLE; RUN CONTROL; VELOCITY; STABILIZATION; POSITIONER; SHIPS; STAGE;
D O I：
10.3390/machines12060376
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A nonlinear passive observer (NPO) for estimating the time-varying velocity vector of a multi-axis high-precision motion control stage is presented. The proposed nonlinear estimation strategy is developed based on a Lyapunov stability analysis, which proves that the NPO is stable. Three test cases are used to investigate the performance of the proposed observer. Experimental results are given to demonstrate the performance of the proposed NPO in accurately estimating time-varying velocity during alignment, reciprocating motion, and multi-axis motion in high-precision motion control applications.
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页数：15
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