Electromagnetic Non-Contacting Position Estimation of a Centimetre-Scale Robot

N. Pushpalayam; Lee G Alexander; R. Rajamani

doi:10.1016/j.ifacol.2022.11.215

Electromagnetic Non-Contacting Position Estimation of a Centimetre-Scale Robot

N. Pushpalayam, Lee G Alexander, R. Rajamani

Research output: Contribution to journal › Conference article › peer-review

1 Scopus citations

Abstract

This paper develops an electromagnet-based position estimation system for a cm-scale robot with two degrees of freedom. The orientation of an external electromagnet is actively controlled in realtime to maximize the magnetic field magnitude at the robot. This results in a monotonic relationship between the magnetic field magnitude and radial distance leading to a simple and robust position estimation system. The radial distance is then estimated using an asymptotically stable nonlinear observer designed using a linear matrix inequality. The analytical principles of the estimation system are first presented using key technical lemmas and proofs. Experimental results are then presented on the verification of the analytical principles and on the performance of the position estimation system.

Original language	English (US)
Pages (from-to)	394-399
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	37
DOIs	https://doi.org/10.1016/j.ifacol.2022.11.215
State	Published - 2022
Event	2nd Modeling, Estimation and Control Conference, MECC 2022 - Jersey City, United States Duration: Oct 2 2022 → Oct 5 2022

Bibliographical note

Funding Information:
This work was funded in part by a research grant from the National Science Foundation (NSF Grant EFMA 1830958).

Publisher Copyright:
© 2022 Elsevier B.V.. All rights reserved.

Keywords

magnetic position sensing
nonlinear observer
position estimation
robot position

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title = "Electromagnetic Non-Contacting Position Estimation of a Centimetre-Scale Robot",

abstract = "This paper develops an electromagnet-based position estimation system for a cm-scale robot with two degrees of freedom. The orientation of an external electromagnet is actively controlled in realtime to maximize the magnetic field magnitude at the robot. This results in a monotonic relationship between the magnetic field magnitude and radial distance leading to a simple and robust position estimation system. The radial distance is then estimated using an asymptotically stable nonlinear observer designed using a linear matrix inequality. The analytical principles of the estimation system are first presented using key technical lemmas and proofs. Experimental results are then presented on the verification of the analytical principles and on the performance of the position estimation system.",

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AU - Pushpalayam, N.

AU - Alexander, Lee G

AU - Rajamani, R.

N1 - Funding Information: This work was funded in part by a research grant from the National Science Foundation (NSF Grant EFMA 1830958). Publisher Copyright: © 2022 Elsevier B.V.. All rights reserved.

PY - 2022

Y1 - 2022

N2 - This paper develops an electromagnet-based position estimation system for a cm-scale robot with two degrees of freedom. The orientation of an external electromagnet is actively controlled in realtime to maximize the magnetic field magnitude at the robot. This results in a monotonic relationship between the magnetic field magnitude and radial distance leading to a simple and robust position estimation system. The radial distance is then estimated using an asymptotically stable nonlinear observer designed using a linear matrix inequality. The analytical principles of the estimation system are first presented using key technical lemmas and proofs. Experimental results are then presented on the verification of the analytical principles and on the performance of the position estimation system.

AB - This paper develops an electromagnet-based position estimation system for a cm-scale robot with two degrees of freedom. The orientation of an external electromagnet is actively controlled in realtime to maximize the magnetic field magnitude at the robot. This results in a monotonic relationship between the magnetic field magnitude and radial distance leading to a simple and robust position estimation system. The radial distance is then estimated using an asymptotically stable nonlinear observer designed using a linear matrix inequality. The analytical principles of the estimation system are first presented using key technical lemmas and proofs. Experimental results are then presented on the verification of the analytical principles and on the performance of the position estimation system.

KW - magnetic position sensing

KW - nonlinear observer

KW - position estimation

KW - robot position

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Electromagnetic Non-Contacting Position Estimation of a Centimetre-Scale Robot

Abstract

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