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Completion of Electromagnetic System and Design of Robust Controller to Control the Movement of Micro-robots in Three-Dimensional Space

Feyzi, Ramin | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 55776 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein
  7. Abstract:
  8. Today, the need to access very small environments is felt in various medical, industrial, biological and military fields. Due to their small size, microrobots have the ability to perform tasks that would be very difficult to do on a larger scale, but this ability of microrobots makes feeding and controlling them challenging. There are several methods for providing power and control of microrobots, which include their internal or external stimulation, among which the magnetic stimulation method is used in this research, which does not cause damage to body tissues.In this thesis, an electromagnetic system with nine cylindrical coils is used to control the three-dimensional movement of magnetic microrobots. Due to the presence of disturbances and uncertainty in the model and measurement, there is a need for a controller that takes these uncertainties into account in the design, so the need to design a resistant controller is felt to enable the control of the microrobot in the 3D environment. After the improvement of the electromagnetic system, the design and simulation of three proportional-integrator controller, sliding mode and fractional-order sliding mode have been done, and the results have been modeled in the presence and absence of disturbances in the system, and in the presence of disturbances of the proportional-integrator controller loses the positioning efficiency and two other controllers with robust behavior can enable positioning in the presence of uncertainty and disturbances, among which the fractional order sliding mode controller has less persistent error and will provide better performance
  9. Keywords:
  10. Micro Robot ; Sliding Mode Controller ; Robust Control ; Magnetic Coil Design ; Proportional-Integral (PI)Controller

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