Model-Free Trajectory Tracking Control of Two-Particle Magnetic Microrobot
Model-Free Trajectory Tracking Control of Two-Particle Magnetic Microrobot
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DOI：
10.1109/tnano.2018.2815978
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发表时间：
2018-07-01
影响因子：
2.4
通讯作者：
Zhang, Li
中科院分区：
文献类型：
--
作者：
Yang, Lidong;Wang, Qianqian;Zhang, Li
本文提出了一种新的无模型双粒子磁性微机器人（TPMM）轨迹跟踪控制方案，该机器人能够在流体中的表面上进行二维运动。该控制方案将微机器人的动力学模型和外界扰动集中在一起，作为广义扰动处理，消除了微机器人由于流体动力学和边界效应而产生的复杂动力学建模。通过采用扩展状态观测器，微机器人的运动状态（即，位置和速度），并且补偿广义干扰。然后，线性轨迹跟踪控制器的设计，利用估计的运动状态。此外，视觉伺服控制系统的实现和广泛的实时轨迹跟踪实验进行。实验结果表明，所提出的控制方案的有效性，实现高精度的轨迹跟踪的TPMM样品与不同的身体长度和周围的流体。
We report a novelmodel-free trajectory tracking control scheme for two-particle magnetic microrobot (TPMM), which is capable of performing two-dimensional locomotion on a surface in fluid. In the control scheme, the dynamicmodel of themicrorobot 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, 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.