Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies

DOI10.1016/J.AUTOMATICA.2021.109554MaRDI QIDQ2021301zbMATH OpenOpenAlexFDO

Authors Alireza Mohammadi, Mark W. Spong

Publication date 26 April 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2104.14241

zbMATH Keywords

control input saturationintegral line-of-sight guidance lawmagnetic microswimmerspath following control

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency constraint. The proposed feedback control solution is based on an optimal decision strategy (ODS) that is cast as a trust-region subproblem (TRS), i.e., a quadratic program over a sphere. The ODS-based control strategy minimizes the difference between the microrobot velocity and an integral line-of-sight (ILOS)-based reference vector field while respecting the magnetic saturation constraints and ensuring the absolute continuity of the control input. Due to the embedded integral action in the reference vector field, the microswimmer will follow the desired straight line by compensating for the drift effect of the environmental disturbances as well as the microswimmer weight.

Recommendations

• Controllability and control synthesis of underactuated magnetic microrobots
• Controllability of 3D low Reynolds number swimmers
• MIMO regulation control design for magnetic steering of a ferromagnetic particle inside a fluidic environment
• Theory of Ferromagnetic Microswimmers
• Thermotactic navigation of an artificial microswimmer near a plane wall

Cites work

• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Minimizing a quadratic over a sphere
• Nonlinear systems.
• On the Stationary Values of a Second-Degree Polynomial on the Unit Sphere
• Path-following for nonminimum phase systems removes performance limitations
• Solving the trust-region subproblem by a generalized eigenvalue problem
• The control of robot manipulators with bounded input

Cited in

(2)

• Controllability and control synthesis of underactuated magnetic microrobots
• MIMO regulation control design for magnetic steering of a ferromagnetic particle inside a fluidic environment

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