Remote Magnetic Levitation Using Reduced Attitude Control and Parametric Field Models

TL;DR

This paper presents a novel control framework for remote magnetic levitation using electromagnetic systems, combining analytical modeling with advanced feedback controllers to achieve precise multi-degree-of-freedom manipulation.

Contribution

The work introduces a compact parametric model and a nonlinear controller for stable, large-angle, multi-DOF magnetic levitation, advancing electromagnetic navigation capabilities.

Findings

Successfully levitated multiple objects across large air gaps.

Achieved trajectory tracking with angles up to 65 degrees.

Demonstrated superiority over PID controllers in stability and accuracy.

Abstract

Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability to generate fast and precise magnetic fields. In this paper, we utilize the OctoMag and a custom 13-coil eMNS to achieve remote levitation and control of multiple rigid bodies across large air gaps, showcasing the dynamic capabilities of such systems. A compact parametric analytical model maps coil currents to the forces and torques acting on the levitating object, eliminating the need for computationally expensive simulations or lookup tables and establishing a levitator- and platform-agnostic control framework. Translational motion is stabilized using linear quadratic regulators. A nonlinear time-invariant controller is used to regulate the reduced attitude accounting for the inherent uncontrollability of rotations about the dipole axis and stabilizing the full five degrees of freedom controllable pose subspace. We analyze key design limitations and evaluate the approach through trajectory tracking experiments across different objects and actuation platforms. Notably, our proposed controller demonstrates superiority over an equivalent baseline PID formulation, reliably tracking large spatial angles up to 65$^\circ$. This work demonstrates the dynamic capabilities and potential of feedback control in electromagnetic navigation, which is likely to open up new medical applications.