State-restricted adaptive control of a multilevel rotating electromagnetic mechanical flexible device using electromagnetic actuators

• Published in: ISA transactions 2024-12, Vol.155, p.346-360
• Main Authors: Lázaro, Rafael Pérez-San, Mendoza-Bautista, Karen Jazmin, Fuentes-Aguilar, Rita Q., Chairez, Isaac
• Format: Article
• Language: English
• Subjects: Barrier Lyapunov function; Electromagnetic actuation; Flexible robotics; Magnetic robot
• ISSN: 0019-0578; 1879-2022; 1879-2022
• DOI: 10.1016/j.isatra.2024.10.013

This work presents the development of a multilevel electromagnetic actuation system that controls the shape of a flexible rotatory robotic structure. An array of electromagnets is used as the set of actuators that regulate the position of permanent magnets within the flexible device. The primary outcome of this study is the design and experimental validation of the multilevel rotating device. In addition, the theoretical description of the system motion under electromagnetic actuation is formulated using Euler–Lagrange and electromagnetic theories. Given the developed model, a theoretical study leads to designing an adaptive control that considers motion restrictions in the flexible device. The controller aims to modify the current applied to the electromagnets, which changes the interaction forces between the electromagnet and the permanent magnets in the robotic flexible structure. A set of numerical simulations confirms the proposed controller’s effectiveness compared to the traditional state feedback approach that does not consider the state restrictions, which is implemented in devices that also operate under an electromagnetic approach. Furthermore, an experimental version of the flexible device allows for testing of the developed controller. The experimental results show the suitability of the proposed control to generate non-oscillatory controlled motion during the regulation of the flexible mechanic device shape. •The adaptive control of a rotating electromagnetic system is developed considering state restrictions.•State restrictions and electromagnetic interference are considered in the control design.•A barrier Lyapunov function is used to derive the adaptive gains for the control action.•The proposed controller is evaluated in an experimental platform.