Control of Permanent Magnet Actuators for Robotics Applications

Motivated by the expanding role of robotics in a wide range of industrial applications, the imperative for a specialized exploration into the control dynamics of permanent magnet actuators has become apparent. These actuators are integral to contemporary robotic systems but they pose distinct challenges necessitating a dedicated exploration. The subject area encompasses a comprehensive examination of control requirements, spanning from conventional high-performance strategies to avant-garde non-position control approaches, multi-motor coordination, and fault-tolerant methodologies.

The aim of the authors is to go beyond theoretical discourse by encapsulating practical applications and implementation strategies to equip researchers, engineers, and academics with a robust conceptual and practical framework for addressing the complexities characterizing permanent magnet actuator control. The comprehensive scope of this book will foster a deeper understanding and facilitate the application of advanced control strategies in the realm of robotic systems.

Control of Permanent Magnet Actuators for Robotics Applications navigates the intricate intersection of robotics and control theory, focusing on permanent magnet actuators. The authors incorporate novel approaches, such as non-position control strategies and fault-tolerant design principle, special design features and real-world case studies to bridge the theoretical-practical divide. By incorporating innovative methodologies with established theories, the book offers a nuanced perspective on contemporary challenges and solutions in the realm of robotic control systems.

Written for an audience of robotics and mechatronics engineers, control system designers, researchers and scientists working on robotics and control theory, and advanced students of robotics, mechatronics, control and automation, this book offers readers a systematic and thorough review of permanent magnet actuators and their control for robotics applications.

Dr Chao Gong is currently a professor at the School of Automation, Northwestern Polytechnical University, China. He received his M.Eng. degree in electrical engineering from Northwestern Polytechnical University, Xi'an, China, and his Ph.D. degree in electrical engineering from the University of York, UK. He was a postdoctoral fellow in the Department of Electrical and Computer Engineering, University of Alberta, Canada, between 2022 and 2023. His research interests include robot actuators, motion control, electrical machine design and drives, and power electronics. He holds 10+ granted patents in the area of motor drives. He was awarded the IET Postgraduate Prize and IET Travel Award for his research on the safety of high-voltage powertrain based electric vehicles and the KM Stott Prize for excellence in scientific research in 2021.

Dr Yihua Hu is a reader at King's College London, UK. He was previously a research associate with the Power Electronics and Motor Drive Group, University of Strathclyde, a lecturer with the Department of Electrical Engineering and Electronics, University of Liverpool, and Electrical Engineering group head with the Department of Electronics Engineering, University of York, UK. He has authored and co-authored over 160 papers in IEEE Transactions Journals. His research interests include robotics, power electronics converters and control, electric vehicles, electric ships and aircrafts, smart energy system, and nondestructive testing technology. He is an associate editor for the IET Renewable Power Generation, IET Intelligent Transport Systems, IEEE Transactions on Industrial Electronics, and Power Electronics and Drives. He is a fellow of the Institution of Engineering and Technology (FIET) and a member of the UK Young Academy. He was a recipient of the Royal Society Industry Fellowship. He holds a Ph.D. degree in power electronics and drives from China University of Mining and Technology, Xuzhou, China.

Dr Jinqiu Gao was born in Shaanxi province, China, on 7 January 1996. She received the B.Eng. degree in electrical engineering from Northwestern Polytechnical University, Xi'an, China, in 2017, where she is currently pursuing a master's degree in electrical engineering at the School of Automation. She is currently a lecturer at Xi'an University of Technology. Her research interests include electrical machine design, drives, and motion control.

Dr Wenzhen Li was born in Xinjiang, China, in April 1991. She received the B.E. degree in electrical engineering from Henan University of Technology, Zhengzhou, China, in 2012, and the M.E. degree in control engineering from Xi'an Polytechnic University, Xi'an, China, in 2015. She received her Ph.D. degree in electrical engineering with Northwestern Polytechnical University, Xi'an. Her research interests include permanent magnet synchronous motor drives and sensorless control of AC motors. She is currently a lecturer with Xi'an Aeronautical Institute.