Model-Based Control for Hybrid Magnetic Actuation System

This paper introduces a hybrid magnetic actuation system (MAS) and an associated model-based control strategy for precise position and attitude manipulation of a capsule robot. The hybrid magnetic actuation system integrates a pair of Helmholtz coils and four motor-actuated permanent magnets designed. A detailed mathematical model, based on magnetic dipole theory, is established to compute the magnetic fields and forces generated by this hybrid configuration. The proposed control methodology employs a two-stage approach: Particle Swarm Optimization (PSO) is first used to determine an optimal initial static configuration of the permanent magnets. Subsequently, a PID controller provides dynamic feedback, with its output (desired force and field adjustments) translated into incremental motor commands by solving an optimization problem informed by a system-specific kinematic model. Simulation results demonstrate the effectiveness of the integrated MAS and its control strategy in accurately guiding the capsule robot.