Control-Oriented Comparison of Electrode Placement Strategies in an Electrohydrodynamic Actuation System

This study investigates the controllability of a hovering platform based on ion thrust generated through the Biefeld–Brown effect. The primary objective is to examine the feasibility of stabilizing a triangular structure under laboratory conditions. To this end, three custom high-voltage power supplies were developed, each independently controlled. These power supplies can be modulated through the control loop, enabling closed-loop adjustment of thrust levels and allowing assessment of how electrode placement influences stability. Two electrode configurations were tested: edge-based placement, where thrust is produced along the triangle’s sides, and vertex-based placement, where thrust is generated near the corners. Experimental results demonstrated that, while both configurations provide similar lifting capability, the vertex-based configuration significantly improves stabilization and orientation control. The improvement stems from reduced actuator coupling and a larger effective moment arm relative to the platform’s center of mass, enabling more efficient torque generation.