Model-Free Trajectory Tracking Control of Two-Particle Magnetic Microrobot
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AbstractWe report a novel model-free trajectory tracking control scheme for two-particle magnetic microrobot (TPMM) which is capable of performing two-dimensional (2-D) locomotion on a surface in fluid. In the control scheme, the dynamic model of the microrobot and external disturbances are lumped together and treated as the generalized disturbance, which eliminates the complex dynamics modeling of the microrobot due to the hydrodynamics and boundary effect. By employing an extended state observer (ESO), the motion states of the microrobot (i.e. position and velocity) are estimated, and the generalized disturbance is compensated. Then, a linear trajectory tracking controller is designed by utilizing the estimated motion states. Furthermore, a visual servoing control system is implemented and extensive real-time trajectory tracking experiments are conducted. The experimental results show the effectiveness of the proposed control scheme for realizing high-precision trajectory tracking for TPMM samples with different body-lengths and surrounding fluids.
All Author(s) ListLidong Yang, Qianqian Wang, Li Zhang
Journal nameIEEE Transactions on Nanotechnology
Year2018
Month7
Volume Number17
Issue Number4
PublisherIEEE
Pages697 - 700
ISSN1536-125X
eISSN1941-0085
LanguagesEnglish-United Kingdom
Keywordsextended state observer (ESO), Two-particle magnetic microrobot (TPMM), trajectory tracking, visual servoing

Last updated on 2020-01-06 at 01:39