Abstract-The use of bulk high temperature superconductor material has been proposed for various non-contact transportation systems. Commonly, such systems use permanent magnets to achieve levitation of a vehicle housing bulk superconductors, with motive force provided separately. Recent work has focused on using electromagnets to provide both the levitation, and the motive force.Through energizing appropriately placed electromagnets in a correct pattern, straight line travel and rotation across a horizontal plane are possible. However, significant overshoot and instability can be incurred during motion events, leading to changes in the flux pinning state and misalignment of a vehicle. This paper proposes the design of a planar array of electromagnets and an energization pattern that achieves controlled rotation. Straight line travel is also achieved. Thus, using the proposed drive system, straight-line travel as well as rotation of a levitated vehicle across a horizontal plane is possible. Experimental verification is provided.