Modeling, Identification and Feed-Forward Control

The magnetic laser scanner is influenced by three main factors: (i) the relation between coil currents and the magnetic torque produced on the permanent magnets, (ii) the mechanical bending of the optical fiber, and (iii) the optical focusing of the laser beam. This chapter focuses on developing a model to represent all these relationships based on experimental observations. The dynamical model of the system is identified by using the electromagnets current (input), the bending angle and the laser position (output). Then, the identified model is used in a feed-forward controller to execute desired trajectories.