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Optimal motion control of three-sphere based low-Reynolds number swimming microrobot

Nejat Pishkenari, H ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574721000953
  3. Publisher: Cambridge University Press , 2022
  4. Abstract:
  5. Microrobots with their promising applications are attracting a lot of attention currently. A microrobot with a triangular mechanism was previously proposed by scientists to overcome the motion limitations in a low-Reynolds number flow; however, the control of this swimmer for performing desired manoeuvres has not been studied yet. Here, we have proposed some strategies for controlling its position. Considering the constraints on arm lengths, we proposed an optimal controller based on quadratic programming. The simulation results demonstrate that the proposed optimal controller can steer the microrobot along the desired trajectory as well as minimize fluctuations of the actuators length. © 2022 Authors
  6. Keywords:
  7. Dynamic Modeling ; Low-Reynolds number ; Microrobot ; Optimal Control ; Controllers ; Quadratic programming ; Reynolds number ; Arm lengths ; Dynamics models ; Low Reynolds number ; Low Reynolds number flow ; Micro robots ; Optimal controller ; Optimal controls ; Optimal motion ; Swimmer ; Swimming microrobots ; Data communication equipment
  8. Source: Robotica ; Volume 40, Issue 5 , 2022 , Pages 1257-1273 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/optimal-motion-control-of-threesphere-based-lowreynolds-number-swimming-microrobot/5EAB169C6B39F397BB2C8BE8B8BF1301