Control method considering current and voltage limits in magnetic manipulation systems

This paper proposes a control method for magnetic manipulation system which has voltage and current limits on its actuator circuits. The proposed method modifies current and voltage references making the largest ones bounded in the rated values for delicate attitude control. When current or voltage larger than the rated value is required for a force-torque command, the method generates the modified currents and voltages. Modified references make force and torque with the same direction and decreased magnitude with the original command. An actuator system with the proposed method may have slower control performance but achieves delicate attitude control. Simulative comparison between the proposed method and a simple limiting method, which simply cutoffs references, is done.