Magnetically levitated six-DOF precision positioning stage with uncertain payload

Sergei Basovich, Shai A. Arogeti, Yonattan Menaker, Ziv Brand

Research output: Contribution to journalArticlepeer-review


This paper considers the set-point control problem of an uncertain six-degree-of-freedom precision positioning system, where only position measurements are available. As a solution, we present 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 practical aspects associated with the algorithm implementation. In particular, it is shown that: 1) the system response due to the iterative process converges to an arbitrarily small neighborhood of the desired equilibrium point, and 2) the steady-state response after each iteration is bounded inside the system traveling range. The presented control algorithm is demonstrated experimentally.

Original languageAmerican English
Article number7296634
Pages (from-to)660-673
Number of pages14
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
StatePublished - 1 Apr 2016


  • Contraction Mapping
  • Iterative Control
  • Learning Cont
  • Precision Positioning
  • Uncertain System

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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