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Optimal controller design for 3D manipulation of buoyant magnetic microrobots via constrained linear quadratic regulation approach

Pedram, A ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1007/s12213-019-00121-3
  3. Publisher: Springer , 2019
  4. Abstract:
  5. We consider magnetic actuation and control of a spherical neutrally buoyant magnetic microrobot via magnetic coil setups and seek to design an optimal controller to reduce the required energy and coils’ currents. We showed that in currently employed setups, where the actuation frequency is few tens of Hertz, the nonlinear dynamics of the system can be well approximated by a set of linear constrained ones. The approximated model is obtained by consciously overlooking the rotational dynamics and the inertia terms in translational dynamics. We acquired the linear quadratic regulation (LQR) controller for the approximated model which is a constrained time-varying system. Finally, 3D manipulation of a microrobot in a custom coil setup via the developed controller is simulated. The results show a significant reduction in necessary actuation effort with respect to previous common controllers. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature
  6. Keywords:
  7. Constrained linear quadratic regulation ; Buoyancy ; Data communication equipment ; Dynamics ; Magnetism ; Time varying systems ; Linear quadratic regulations ; Magnetic actuation ; Magnetic microrobots ; Mobile microrobots ; Optimal controller ; Rotational dynamics ; Translational dynamics ; Controllers
  8. Source: Journal of Micro-Bio Robotics ; Volume 15, Issue 2 , 2019 , Pages 105-117 ; 21946418 (ISSN)
  9. URL: https://link.springer.com/article/10.1007/s12213-019-00121-3