Modeling and controller design of a MAGLEV guiding system for application in precision positioning

We analyze the dynamics of a magnetic guiding system and derive its analytical model with full degrees-of-freedom (DOFs). Then, an adaptive controller which deals with unknown parameters is proposed to regulate the five DOFs in this system. The guiding system including sensors and drive systems is has been implemented. From the experimental results, satisfactory performance including stiffness and resolution was achieved. This validates the design of system hardware and demonstrates the feasibility of the developed controller.