Current Reference Projection Method for Securing Micro-Robot Control Bandwidth Under Voltage Limit Condition

_ This paper proposes a current reference projection method of magnetic manipulation system that controls a magnetized agent, so-called micro-robot. This method reduces the current variances between current and target current based on the actuation matrix characteristic. Reducing the current variation also reduces the settling time of magnetic field and gradient in magnetic manipulation system under voltage limitation. Because magnetic field control directly affects micro-robot control, the proposed method has an advantage in terms of securing micro-robot control bandwidth under voltage limit condition. This paper also discusses efficiency improvement of the proposed method in steady state. The target current of each coil is calculated on PC and controlled by independent full bridge inverters. The advantage of the proposed method was verified by simulation results.