l∞-norm and clipped l2-norm based commutation for ironless over-actuated electromagnetic actuators

Norm-based commutation methods are discussed for the class of ironless, over-actuated actuators with a linear relation between applied current and produced force/torque. Three norm-based commutation methods are compared. The l^∞-norm and clipped l²-norm based commutation methods are novel alternatives to the known l²-norm based commutation. The main benefit of the proposed new commutations is the limitation of maximum current. All three methods are compared on a model and experimental setup of a magnetically levitated planar actuator with moving magnets.